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+  "motion_sequence": "MultiDynamics:1:0.402:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
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+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.402_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
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+  "motion_sequence": "MultiDynamics:1:0.570:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
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+    0.0,
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+  "object_side": "right",
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+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.570_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
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+  "object_side": "right",
+  "is_side_object": false,
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+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.3_0.0_0.0_MultiDynamics_2_0.350_0.062_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
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+  "task": "Mixed",
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+  "motion_sequence": "MultiDynamics:3:0.510:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
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+    0.0,
+    0.0
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+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.510_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
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\ No newline at end of file
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+{
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+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.9,
+    0.0
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+  "description": "Walk to the blue box at <DIST> (2.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-0.9_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
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+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.0_0.0_MultiDynamics_arc_9_0.261_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1002/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db10d9b4949c1aeeaceda92c34c424317e71d0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1002/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.1_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1003/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ab15d4545598c9bc074f20f0e1dfe1541beab3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1003/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.2_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1004/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc3e99e66edda7b574af08b1c7944fac359297f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1004/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.3_0.0_MultiDynamics_arc_12_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1005/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3375b79f71f36e338d3a129f3dba533ba99da6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1005/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.4_0.0_MultiDynamics_arc_13_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1006/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f582c2fa2bedc41c221ab3a9654e3198a2042433
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1006/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.5_0.0_MultiDynamics_arc_14_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1007/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7ba1969de597568f8ccf5a0e50a481c7d169cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1007/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.6_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1008/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4808aacc85657096530196665511ea7162d3e53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1008/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.7_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1009/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e0f7bf7531380d91b94580cd539b8746537e61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1009/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.8_0.0_MultiDynamics_arc_17_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..154b9c603dcdb19cf636c888fbdca000f329fcd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_101/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.543:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.2_0.0_0.0_MultiDynamics_3_0.543_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1010/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc919d9f72fecc8eff7c56cb48fe80377177d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1010/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_0.6_0.0_MultiDynamics_arc_5_0.470_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1011/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13511a2f155fcaf24f95e97b15292b92c8d941a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1011/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-1.9_0.0_MultiDynamics_arc_18_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1012/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c6270b1e1c6cc53f77ba0882ef2b844f7ca140
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1012/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_0.7_0.0_MultiDynamics_arc_6_0.392_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1013/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff57e259893f0beb1d66ce3061871d0b23ed3810
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1013/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_-2.0_0.0_MultiDynamics_arc_19_0.124_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1014/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6991d5ecf07bd0dfacbb97feaed53dcfedd7b0f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1014/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_0.8_0.0_MultiDynamics_arc_8_0.294_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1015/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45294ca3942196c1c6af2e7dd55c1f4f07da357b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1015/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_0.9_0.0_MultiDynamics_arc_8_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1016/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..add7ee6f8d4bbf3e41e22e78e1aa6bc66fdc9224
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1016/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.0_0.0_MultiDynamics_arc_9_0.261_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1017/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b9d63286110d4c0a10a2c5cfa5e7a00f466922
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1017/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.1_0.0_MultiDynamics_arc_11_0.214_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1018/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb438657755d320c274828f520420ba8e581d78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1018/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.2_0.0_MultiDynamics_arc_11_0.214_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1019/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..923820fd34f2b5c19bfe7d65eddb4432e7a5f959
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1019/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.3_0.0_MultiDynamics_arc_12_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbcba743a226982d319a7d554ed51059dd8f5796
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_102/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.062,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.577_0.062_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1020/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ec01fbfb573daf2d550ac27841428a739b77ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1020/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.4_0.0_MultiDynamics_arc_13_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1021/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3b786d229846c07ad8b5f31f73d8a7a9f1798
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1021/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.5_0.0_MultiDynamics_arc_14_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1022/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f702821492d0668d1f0f38e1fede237a9aec0ab7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1022/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.6_0.0_MultiDynamics_arc_16_0.147_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1023/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d59f4ffd0c1cd4b0daa535a693a00ae0c8da1f20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1023/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.7_0.0_MultiDynamics_arc_16_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1024/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..013c73fe052a46c016b71549b26e523d838b6d2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1024/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.8_0.0_MultiDynamics_arc_17_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1025/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a9f8a535188e590e349d1736390714b4b4e321
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1025/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-0.6_0.0_MultiDynamics_arc_5_0.490_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1026/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de9c0ac4d597d4dffcd286dbd5702d99abf756f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1026/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_1.9_0.0_MultiDynamics_arc_18_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1027/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4cb362b71e11e5429802859a53d142cb7af263
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1027/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-0.7_0.0_MultiDynamics_arc_6_0.408_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1028/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f7813cde92d3123fc77e448b90bcfb66950778
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1028/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.8_2.0_0.0_MultiDynamics_arc_19_0.124_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1029/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca4f8b78703a3376477198136b07038277f24315
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1029/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-0.8_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b22c0165ab83b11378b6377251367b3cbda0e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_103/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.630_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1030/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b6e3117814178af9dbed3bd5357e83febfb243
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1030/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-0.9_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1031/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0764bdd66765634bf26ddf9ef17718f2cba9a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1031/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.0_0.0_MultiDynamics_arc_9_0.272_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1032/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5501fade6fb4015c383dbf9b574de365df69b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1032/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.1_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1033/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce49ca77a2e807b0365e4f6eb1944a34f2a262bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1033/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.2_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1034/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..733e0ad7aedcfd967f0c3197f409760c928ae872
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1034/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_0.6_0.0_MultiDynamics_arc_5_0.490_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1035/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23669ee29d8e94d7896dab81f3013f23d8acfa4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1035/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1036/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e30f79392b3408314040f47de399a77b03369d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1036/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_0.7_0.0_MultiDynamics_arc_6_0.408_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1037/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29abfa19d8949cdba59f7553950e478d62ae2e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1037/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-0.7_0.0_MultiDynamics_arc_6_0.425_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1038/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f1b4e810817420a056c14002281deb35ae9df11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1038/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-0.8_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1039/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06380fa30770bd5c750b9a0b9922721018681f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1039/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_0.8_0.0_MultiDynamics_arc_8_0.306_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa29308c9c47ee371acfbfbb5c2494680fe890f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_104/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.062,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.490_0.062_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1040/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce3c041e9088b98edbc980b9ef8b6ce2c23b1d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1040/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_0.9_0.0_MultiDynamics_arc_8_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1041/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cfabe28a0834c4916b04b2ec7ee5ddb7ebc690f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1041/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-0.9_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1042/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48cbd9c1f81b7a90a2185220a460247e581840e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1042/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.0_0.0_MultiDynamics_arc_9_0.283_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1043/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ad1da665853c5e548a1613fb8a803c1fd296d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1043/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.0_0.0_MultiDynamics_arc_9_0.272_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1044/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f29968395e811d79d0d4c26556540931150727
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1044/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.1_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1045/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..487fa08827414c768610541532fa3042374651b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1045/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.1_0.0_MultiDynamics_arc_11_0.223_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1046/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf948a8ae56e750aad21e294318b61275079e3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1046/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.2_0.0_MultiDynamics_arc_11_0.223_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1047/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b903d8d33b2b0c23dafecf633bbf78feba2b39e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1047/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.2_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1048/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3591cb8931928fd7ead25922346547f988aad45f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1048/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.3_0.0_MultiDynamics_arc_12_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1049/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30bdf490c97f313c3a7158e82781f39786f89d4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1049/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.3_0.0_MultiDynamics_arc_12_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..993e6d771d65095ee6d2e9b009f7c3cb29ead5a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_105/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1050/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3456cac66793cf54737f4db12515f9241cde1d81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1050/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.3_0.0_MultiDynamics_arc_12_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1051/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b92158d561df59329a4373925cc2e5b03e39cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1051/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1052/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5eb030a789bc1b9b0fc7b7c6511856f501e9b73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1052/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.4_0.0_MultiDynamics_arc_13_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1053/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5332bcc06b5fa5b5ef66b96140b8ac4c90294986
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1053/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.4_0.0_MultiDynamics_arc_13_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1054/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d6a9125c94baa2e5aa97c6677b151a50fb278a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1054/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.4_0.0_MultiDynamics_arc_13_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1055/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5019ae12c9b17f814e1ad365b75434ceb439c04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1055/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.5_0.0_MultiDynamics_arc_14_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1056/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..120dbda0fc608eda8fc95672de42fbd08541c0d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1056/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.6_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1057/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a80fabfa26477c022557a9caa1dc18cdbe93bb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1057/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.5_0.0_MultiDynamics_arc_14_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1058/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bda84443f23de04679464dd01e7e5970524273d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1058/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.7_0.0_MultiDynamics_arc_16_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1059/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0fa134fec9d04b2c8f52fa8869d860c4778eb6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1059/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.7_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0aed883fefea7ae859d7d87c04ab660f5cf01bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_106/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.540:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.540_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1060/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19100c0ff679abaf70aa8289085ced546d9f5ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1060/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.6_0.0_MultiDynamics_arc_16_0.153_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1061/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf09f34359b5c640fc382b9ea300dee963cd2ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1061/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_0.7_0.0_MultiDynamics_arc_6_0.425_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1062/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65bd22a25d55393c82d2362e4300aae29265151f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1062/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.8_0.0_MultiDynamics_arc_17_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1063/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a8a65935cb4c03f8919b47f784017b06b213e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1063/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.8_0.0_MultiDynamics_arc_17_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1064/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..005063a1597cc80d5e967d7c8195900bf76eacfc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1064/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-1.9_0.0_MultiDynamics_arc_18_0.136_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1065/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f17dc324fbf5f27db4bdd3324f49c282c84b8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1065/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.5_0.0_MultiDynamics_arc_14_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1066/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5f3207d1924d1dc40e9ed90ad375bc26ef7b8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1066/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_2.0_0.0_MultiDynamics_arc_19_0.129_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1067/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16d3811a44d13faa90bee87ced768f1c95c822a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1067/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_-2.0_0.0_MultiDynamics_arc_19_0.129_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1068/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d5ffbf196ef14e6180af9e6fbdf1f26550a301
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1068/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.9_1.9_0.0_MultiDynamics_arc_18_0.136_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1069/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab88b95b8e698e89d339f2e96fd7a2609614430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1069/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_0.8_0.0_MultiDynamics_arc_8_0.319_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9cb08b30fa08376b055687099b39133f9bc4f6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_107/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.560_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1070/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e8172da37df28bdcdf9f454fe85b673597ae17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1070/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.6_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1071/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c2898a8c9a6969c9cb4d664b01c02214c638cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1071/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_0.9_0.0_MultiDynamics_arc_8_0.319_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1072/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33e31c08663319abbabcf5e1be52a04a32567a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1072/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.7_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1073/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92cc43890d6c97cefcd0fda064b160be7f469bff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1073/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.8_0.0_MultiDynamics_arc_17_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1074/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43069d938ecba86447c48fab5e3596d98f8bc00f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1074/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.0_0.0_MultiDynamics_arc_9_0.283_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1075/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7bc8a774fa800531358ed6c90388d28f7f56742
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1075/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-1.9_0.0_MultiDynamics_arc_18_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1076/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3931c120363d2c8daa067ca3b7a6538ef1a737bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1076/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_-2.0_0.0_MultiDynamics_arc_19_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1077/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2831f500de2890fec741911314e41a335c684ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1077/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.1_0.0_MultiDynamics_arc_11_0.232_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1078/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8b9344fb0b6d38d564689cc0c6b0a3663c5ce4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1078/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.2_0.0_MultiDynamics_arc_11_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1079/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..066c95e751f828297e1ca8cecdbfbe338b61bdf8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1079/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.3_0.0_MultiDynamics_arc_12_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed78fea820fdd142429ae38d8fa192a359505f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_108/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.585_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1080/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbfbc63b55bc93ea60dfe995797134a7ab7fa32e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1080/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.4_0.0_MultiDynamics_arc_13_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1081/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48cb46b12245e17cf00155c6a2edeeb852018821
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1081/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.5_0.0_MultiDynamics_arc_14_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1082/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd7300efc720cc5a48d44ab72a7978afd6560bb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1082/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.6_0.0_MultiDynamics_arc_16_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1083/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbdb72026d2113fd9fdd1b0cccaa3359ec87801
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1083/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.7_0.0_MultiDynamics_arc_16_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1084/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74785e4fe745f42e7edf80356a2941d35d92ff86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1084/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.8_0.0_MultiDynamics_arc_17_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1085/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..819eca895d2074c26cdfafb48ad53fe85d52b969
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1085/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1086/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85faa402738118a146dfb04d9e126b6bbfa16823
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1086/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_1.9_0.0_MultiDynamics_arc_18_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1087/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf9fca76027522427e291988391479110a0980d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1087/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-0.7_0.0_MultiDynamics_arc_6_0.442_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1088/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e1f7a1815e80f88d53d5cd6df0600426323ac3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1088/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.0_2.0_0.0_MultiDynamics_arc_19_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1089/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c26225e5af6e0756891d19b98dd9f55583be3ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1089/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-0.8_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c936cf2eadc7dd9a60ae206fc0b04f35653f3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_109/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.610_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1090/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f71129164db1f33dd57e696fcc7227eb00e9a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1090/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-0.9_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1091/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70b332a2b0b6c7be2b1d7308b08a00fd39592ead
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1091/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.0_0.0_MultiDynamics_arc_9_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1092/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efaf3b4b02648292c534dba1acdfe51fd0871f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1092/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.1_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1093/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8783afbeeaa1865cd3dfe8d7177c891b900f0219
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1093/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.2_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1094/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ff55ce6c3e6f295002dca32b488c67e3030edf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1094/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.3_0.0_MultiDynamics_arc_12_0.221_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1095/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c4560602ea978e6fa44e71080bc3caa58e0a25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1095/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.4_0.0_MultiDynamics_arc_13_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1096/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2611214dad996cb1eebe5d5de0231a670d1f22d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1096/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.5_0.0_MultiDynamics_arc_14_0.189_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1097/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..395aa3cf8332f36ae9090fda9d80bbaa6f697de0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1097/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.6_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1098/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..501f567aefe713a2590d356348212d3134173cff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1098/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.7_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1099/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dde218f6fca1bec05fe5714807d44c3e8452fe3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1099/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.8_0.0_MultiDynamics_arc_17_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_11/meta.json b/RH5_dataset_threads_5000eps/frames/episode_11/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c431a84306998f172133701a8c8698cb270efc81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_11/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.530_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d38480a770a2d5f248c79e3ddc64c265559ec3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_110/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.508_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1100/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..163d79a921b60fd255fd5ee0041cc2fa7684b0c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1100/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-1.9_0.0_MultiDynamics_arc_18_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1642db9b979ac1bbae4760a29194b9f7c748e9c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1101/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba01b6908543b711027baabeb1a0c71762dc4430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1102/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_-2.0_0.0_MultiDynamics_arc_19_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd78cf02bc3ae7acfe0bc6bba8535f5cbdc85e34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1103/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_0.7_0.0_MultiDynamics_arc_6_0.442_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a6d1166beeff97621dd417bf07921adcbc0818f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1104/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_0.8_0.0_MultiDynamics_arc_8_0.331_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a45e2bc9dc4a69714c31c6b8060ce7434c843ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1105/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_0.9_0.0_MultiDynamics_arc_8_0.331_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a3f46b425f62ce419a637149525113dea9cf8a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1106/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.0_0.0_MultiDynamics_arc_9_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c4bb149b0531da5fd218dcd96419f28155665b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1107/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.1_0.0_MultiDynamics_arc_11_0.241_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ccffb70449c0eef69b827438ee46e19360e3d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1108/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.2_0.0_MultiDynamics_arc_11_0.241_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7c9418456b50db153e305e7325f422d70ff616
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1109/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.3_0.0_MultiDynamics_arc_12_0.221_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1aa4af563643fce912af760d377ffb521ae3508
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_111/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.536_0.062_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efc4d86eb95c92ffd40c818d24985ce732ffe478
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1110/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.4_0.0_MultiDynamics_arc_13_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4533ab0ca5007f2b78672834d7a3485a37bddcab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1111/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.5_0.0_MultiDynamics_arc_14_0.189_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55208bf53cae9946418fac85e7dc151af3573672
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1112/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.6_0.0_MultiDynamics_arc_16_0.166_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e173b6bf6201bb8ff6cced05bd56db7919b9aa04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1113/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.7_0.0_MultiDynamics_arc_16_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50cde32dbbea89ebcf33a096e7167bfe11916f21
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1114/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.8_0.0_MultiDynamics_arc_17_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40cd02a2fc4ba110ad59dee8136a3a0b90d9cd42
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1115/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_1.9_0.0_MultiDynamics_arc_18_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..113fe9aa166f05e2473f0afee6f29689fde72eda
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1116/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d68f04838f7b1f9a8bfcf5faa0d7159011035d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1117/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.1_2.0_0.0_MultiDynamics_arc_19_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4158bf74ce80eede71419b5b5821ec80ad9013d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1118/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-0.7_0.0_MultiDynamics_arc_6_0.458_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68897af54425274dc9e31de471c0e0fc6d82ca5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1119/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-0.8_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..064511b030d10ed801076b1e5ee9a3bd77580d3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_112/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.552_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..369b4cbd60e38c92e74a6021ffb578d722562097
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1120/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-0.9_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c558e7a93bcc9bba4c39ff2e7119b4fe7f0cb1c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1121/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.0_0.0_MultiDynamics_arc_9_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b05af2046a210d8e2df6f04747c2893521b7fb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1122/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.1_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89825f83c3b9cf3ac3ca281750a048bd57ae21c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1123/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.2_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96a4ab1478d4c2920c5f2d6480229d3a7373e81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1124/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.3_0.0_MultiDynamics_arc_12_0.229_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e301fd2cf1eff5cf4ff5bd19fac956d2a99c72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1125/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.4_0.0_MultiDynamics_arc_13_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43056a2f178e657d9d1d6ee6ffe5be2cafbf610e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1126/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.5_0.0_MultiDynamics_arc_14_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1280bd9bdfa3774c34d641184b59e3564892636
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1127/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.6_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a85ddbedc7821656db228bfce0bd21570d25179
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1128/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.7_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e60da1019f73db27dd2fda2d0e1bdbdf44e839
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1129/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.8_0.0_MultiDynamics_arc_17_0.162_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9bc32e98e5c5677e7c3fb016406d5239225463
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_113/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.568:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.295:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.568_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.295_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60dd7ef8d741f30052358c5984d902637ce22cd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1130/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-1.9_0.0_MultiDynamics_arc_18_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea420c1f5c178e3aa7d12361342f18043b15041
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1131/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28290520884922fbaef7819c7928f9ff5b5de06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1132/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_-2.0_0.0_MultiDynamics_arc_19_0.145_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a4e2b0173967c478590a1eb5cd23b3a963826c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1133/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_0.7_0.0_MultiDynamics_arc_6_0.458_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..174f2f3d130d4bc53cb4475c21b61b0cf5f3248a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1134/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_0.8_0.0_MultiDynamics_arc_8_0.344_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55319dbec4df01c17e25d1ade6ef88e5c4db708a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1135/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_0.9_0.0_MultiDynamics_arc_8_0.344_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..020ff6d85b04d968f2fe14e25d2301fc2898fec6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1136/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.0_0.0_MultiDynamics_arc_9_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84e43e963abb3d31740cea9ee42cf47d62a60e03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1137/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.1_0.0_MultiDynamics_arc_11_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96867e5c05ed4f74227f1b52c68ce856f11045b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1138/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.2_0.0_MultiDynamics_arc_11_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca8917bcbf298ddf08c20f32f86346029eb51b91
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1139/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.3_0.0_MultiDynamics_arc_12_0.229_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b020d5d4ccc66ff1813425a030b7d7ae65fef47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_114/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.588_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..892c870b3d0b10087ab8d4ff3493e2c85edd916a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1140/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.4_0.0_MultiDynamics_arc_13_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c59b8c21260067b06c12fe1aedb6062d0346ad7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1141/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.5_0.0_MultiDynamics_arc_14_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fb887b7434e765ba0db8fc0cb9e6a1670375837
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1142/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.6_0.0_MultiDynamics_arc_16_0.172_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbef7f7ac35a9e03456077dc827bf6c36b74a44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1143/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.7_0.0_MultiDynamics_arc_16_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a19dd0b8085b5e16609fbce11070b41eed2248
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1144/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.8_0.0_MultiDynamics_arc_17_0.162_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c86c50d2cc44e5e72f74356611068f9b935d0d3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1145/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_1.9_0.0_MultiDynamics_arc_18_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c068e32e39a79ac402b45ed0c82a6324d19f3481
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1146/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe73fa048c8d8680403d3b7c948902b152a91f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1147/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.2_2.0_0.0_MultiDynamics_arc_19_0.145_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..488396ed9c5f8a1ea65eaa0434ad7bad0c9682b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1148/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-0.7_0.0_MultiDynamics_arc_6_0.475_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0563d5a3f34c0816083e01950ac96ecf0c82a9f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1149/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-0.8_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad22bc416ba4bc4473329e8fbefda057d60217ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_115/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.614_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a7342b825e4c93234dba440a75e88c3830b2a83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1150/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-0.9_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..072dc9f8fc877a9e959dfe6e1357cab96414d3d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1151/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.0_0.0_MultiDynamics_arc_9_0.317_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..057280012b6fd93f497d08b5c4fe1b65c7817fca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1152/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.1_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..731fc456dcae8259dd0ceb85defa16a9cfb8f9ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1153/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.2_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b6c79c8a1929d8bba56e12b0eb907d804de99a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1154/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.3_0.0_MultiDynamics_arc_12_0.237_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8794aed4a886e14cec85c2b814958a10f596886e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1155/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.4_0.0_MultiDynamics_arc_13_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c72e018c65a00e3aa754e068d06a88ed1edaaad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1156/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.5_0.0_MultiDynamics_arc_14_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..399b94117215199251beabdf3c11bb9662d89671
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1157/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.6_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d4a5545bba20483e19023378005043771c671e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1158/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.7_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c661788ae5778589f52026c7b01ed4fc848f4168
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1159/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.8_0.0_MultiDynamics_arc_17_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..879e590c047a9e0012c11d0c3b475d772da6ffdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_116/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.7_0.0_0.0_MultiDynamics_6_0.530_0.062_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeea476346ae39434dab81c1c4011b0f45cf81fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1160/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-1.9_0.0_MultiDynamics_arc_18_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86a95ffbbad97d52b003bbc48babcabaf91d2986
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1161/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1165c6ee6a9b943db6a55d064f4b38772a7039
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1162/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_-2.0_0.0_MultiDynamics_arc_19_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a403f8a885cb66420c44bbdf4ddb2d8181bca53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1163/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_0.7_0.0_MultiDynamics_arc_6_0.475_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2b143eb92974bac622d15f07260ff0c0ed64a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1164/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_0.8_0.0_MultiDynamics_arc_8_0.356_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f924af28c5d71aaa4aa6a22896a47d5854f7013
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1165/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_0.9_0.0_MultiDynamics_arc_8_0.356_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d038671eb0df338dfd71840cce21c7d38da0fe4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1166/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.0_0.0_MultiDynamics_arc_9_0.317_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ba86beb93cc8b19f73e2f515434b3f72bbd110
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1167/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.1_0.0_MultiDynamics_arc_11_0.259_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43991ad9a62fc64ca1d14d02d9dc52d39fd7b5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1168/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.2_0.0_MultiDynamics_arc_11_0.259_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01c0d5df6411b4eda5fe5f020e98bf20271dcfcb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1169/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.3_0.0_MultiDynamics_arc_12_0.237_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c346ef1eb8efcb01c1918afcb7b3b22926a5c4ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_117/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.543:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.543_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55b8697ef2a22e7fc82b8cebb729bed6df2ffa21
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1170/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.4_0.0_MultiDynamics_arc_13_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4411ae72d21d499f8e9bfafbf5cc6ab2046f3956
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1171/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.5_0.0_MultiDynamics_arc_14_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5109153e99aa876236460ed822c6769042b42671
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1172/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.6_0.0_MultiDynamics_arc_16_0.178_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6698cfac235604f5bf6ee9368f56e4e8feef3c5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1173/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.7_0.0_MultiDynamics_arc_16_0.178_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cc188519f8c417ae9910a367d6281241f321e34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1174/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.8_0.0_MultiDynamics_arc_17_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb65f088da35233a168b0836a2320c20b0c08dce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1175/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_1.9_0.0_MultiDynamics_arc_18_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..815d1e947e32464ff39866f225b4531fc23db699
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1176/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c90e3a9c474c1a16dd75e50f8bd6e72c698f6ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1177/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.3_2.0_0.0_MultiDynamics_arc_19_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da1f78779bd0abc07050518c792e243f25b5bfce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1178/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-0.7_0.0_MultiDynamics_arc_6_0.492_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0503752fd9ac7e15705afebe276699e5bd7ca9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1179/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-0.8_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e1c9414d14cd5a30df80d8f4c387a96385201a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_118/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.062,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.560_0.062_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6af7aa2dd2a09c183327479cc83ed23bc37c567
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1180/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-0.9_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..954b6ae5918b158a30eb2cd9464827e02452b1d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1181/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.0_0.0_MultiDynamics_arc_9_0.328_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..878039b1eeffb6e49b2378587c638ebe1e311c28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1182/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.1_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87fcf3c5b901739e0075877306c75db434919ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1183/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.2_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8766c89852e5379d078c6f52bb4c6e709cf52a47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1184/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.3_0.0_MultiDynamics_arc_12_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea285ee5b498f5e241165a5c7ea44252a38ff47b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1185/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.4_0.0_MultiDynamics_arc_13_0.227_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e195c6151f023954a9ced59a8ce89d139b16ca09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1186/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.5_0.0_MultiDynamics_arc_14_0.211_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f250a1160f570703dc1e807faf3686052d9eb83c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1187/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.6_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa324624e6d58a239c70044424394770779dbef9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1188/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.7_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3f2b2474d6a688d36f57cfe3880bfba95c4966
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1189/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.8_0.0_MultiDynamics_arc_17_0.174_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c81dab45862853bde57fae684da927341a4c2c10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_119/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.580_0.062_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48111dceca8d2f646113657420e2a4c4f96fa7a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1190/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-1.9_0.0_MultiDynamics_arc_18_0.164_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcdd9aa611689ed0846c9ed8487d3e3646c4c4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1191/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..677774f834e8677b900b6b4c45c677a511642402
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1192/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_-2.0_0.0_MultiDynamics_arc_19_0.155_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea5d8ec0c8aca1e8a1060fe859da6ee22a5fbe5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1193/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_0.7_0.0_MultiDynamics_arc_6_0.492_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..042f3c421712b469bb059ef6a02650d506a42918
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1194/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_0.8_0.0_MultiDynamics_arc_8_0.369_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ef96b11f4077dbda5933e60edac36c549207ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1195/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_0.9_0.0_MultiDynamics_arc_8_0.369_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60006e64b9d733b45dbd680154f374bdb4253863
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1196/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.0_0.0_MultiDynamics_arc_9_0.328_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baca33441971597ef55b86565144227389e90944
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1197/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.1_0.0_MultiDynamics_arc_11_0.268_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6ea422e7a112e722b1e04dce948172826eb85b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1198/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.2_0.0_MultiDynamics_arc_11_0.268_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c9c5294fc758a4f85f6a4b59da52875beb71b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1199/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.3_0.0_MultiDynamics_arc_12_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_12/meta.json b/RH5_dataset_threads_5000eps/frames/episode_12/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5737acd1e6e709a3779c7e28f93c86448f80cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_12/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.477_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eacdc6a00ff0fb1bf1089ef9b189e5dcc1520ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_120/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.570_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5819991c15bd122739211a85e29836799c0cf8ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1200/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.4_0.0_MultiDynamics_arc_13_0.227_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a72ea934aec9c86b62d5345c64ef2d20ea1b18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1201/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.5_0.0_MultiDynamics_arc_14_0.211_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e1c6ce4fdfb1f94548cb7fc280e081a6aa8bba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1202/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.6_0.0_MultiDynamics_arc_16_0.184_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e4e2e0525a9cb3e2d94cf4114abc5edad33661
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1203/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.7_0.0_MultiDynamics_arc_16_0.184_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f128c09820f660ec7aa0841f05ee918c2b425e97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1204/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.8_0.0_MultiDynamics_arc_17_0.174_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30f98befc55b64005adaf1ba31f9dedb40921ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1205/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_1.9_0.0_MultiDynamics_arc_18_0.164_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba939b93330f7ae1ec18bbe185ed8a16916ef38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1206/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16bff74274f7a44b1c420fd63288f79616d8653d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1207/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.4_2.0_0.0_MultiDynamics_arc_19_0.155_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e9eb06ce5cef12bd5eabaeb9c89512eb7f2ccd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1208/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ae63bbd124a1bdfd5d1e4044c1e1399814cf36c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1209/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-0.8_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4744b8a1f3da236605df4c0bec3f98282d1bbf77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_121/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.695_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f09d8a09af55fb92cd5de56ef0b99e433b6291b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1210/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-0.9_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e8cbdaa8d2ba9805a96cba778864cd3a724ce2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1211/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.0_0.0_MultiDynamics_arc_9_0.339_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af24f2beb8f85ca4cb27fb0a52ff6b76b31fbb52
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1212/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.1_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b80d19a7279c3853e284a990cc42d21e8777fef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1213/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.2_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a01a1d07c49be8af1006ca5c765ef91fc43d3dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1214/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.3_0.0_MultiDynamics_arc_12_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d8e3a09b3f2439b1f90e64427092559649d2a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1215/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.4_0.0_MultiDynamics_arc_13_0.235_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5ca0c81130454b7ff20dc2cf02e1cc5f78c2be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1216/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.5_0.0_MultiDynamics_arc_14_0.218_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4339b516fa80767a04222dfe48d43573c95eafa5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1217/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.6_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..203fcf010265e79a77b9d3b971ee5fa3c9097fb4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1218/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.7_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc8c81e75ca6648ae4aa47c6e4542a52dec08da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1219/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.8_0.0_MultiDynamics_arc_17_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31efd89f800f5397ce1b59a4af9f6d7e590e325c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_122/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.062,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.3_0.0_0.0_MultiDynamics_2_0.350_0.062_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad52e18c0140d901eef99aeae50325ee2f15e2f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1220/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-1.9_0.0_MultiDynamics_arc_18_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5aca89a5a5b5e678df1b0c0688558a337e19671
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1221/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c2e79fd548431c060e4b5cacfbf1949b9d7fd82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1222/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_-2.0_0.0_MultiDynamics_arc_19_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..439e8baf1f81d31f1b5f37363107b72cd8a9b704
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1223/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea84fbac9cbfd2bbcf50580dcada5e5ba21f8f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1224/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_0.8_0.0_MultiDynamics_arc_8_0.381_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83c8046bd17cce47b710d467f6bbd5e1b5104a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1225/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_0.9_0.0_MultiDynamics_arc_8_0.381_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5864fbb5a0bf326f59992126558bebb9d266fd03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1226/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.0_0.0_MultiDynamics_arc_9_0.339_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2518fc2d87d00a7e8dd6daf98e5b395d989e61f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1227/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.1_0.0_MultiDynamics_arc_11_0.277_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c956393780b1560373f3a78025ce0fb00e1541a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1228/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.2_0.0_MultiDynamics_arc_11_0.277_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c91c47083d9d547410d3bca0cf0a2eaa930aa8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1229/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.3_0.0_MultiDynamics_arc_12_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00454626e19ab20be5f827b801676507b87273bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_123/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.062,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.401_0.062_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..071e62befe4ed97d29de67bdd532b1000ad84773
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1230/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.4_0.0_MultiDynamics_arc_13_0.235_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b81b214b9a2fdba64a8282849549f8a2d1e117
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1231/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.5_0.0_MultiDynamics_arc_14_0.218_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37ab905d1e3bc89044d5aae77594dd47c0c5548
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1232/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.6_0.0_MultiDynamics_arc_16_0.191_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96ae4f3db608d588279e6bc68e1ac93cb8cb923
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1233/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.7_0.0_MultiDynamics_arc_16_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3d33945123a6a5e449db8ae2e2f5719fec1a61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1234/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.8_0.0_MultiDynamics_arc_17_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc8923ab2024e63a07a5aaf783bda52d932c02b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1235/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_1.9_0.0_MultiDynamics_arc_18_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1027473432699083481be81778cee0fddf546d9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1236/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dffa8f3a11e884b4cc1adb9e467652872319645a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1237/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.5_2.0_0.0_MultiDynamics_arc_19_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a1538ef843cbc316acc7114a1332c3beab842d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1238/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75398f99ee4bf49676b625c1c405459e3c3fb74c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1239/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-0.8_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60d709f9fb622e09cc66c94f681b90590f5671c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_124/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.480_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6acb38fe49ef7f2b5a3716d269c9041f0cedfb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1240/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-0.9_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..144b5d72f399a78dff1e8f73f6bd628dd9152c12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1241/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.0_0.0_MultiDynamics_arc_9_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8831ff3ae1c465b79c1d5b0bf17b0de38933c596
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1242/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.1_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bc073572c9fb7d72fd75665a91b6714db9852bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1243/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.2_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad1d1d381bd4154832b251addea25c5807326ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1244/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.3_0.0_MultiDynamics_arc_12_0.263_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7c8fa13e0e50798192d541940f3bf8b6f765ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1245/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.4_0.0_MultiDynamics_arc_13_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1246/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..362f26de9a29cd9bb1269949b0b3e748a4dc4922
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1246/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.5_0.0_MultiDynamics_arc_14_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1247/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be02cf834437e20796e87551e096252ced665a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1247/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.6_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1248/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d7d7dd4ddcb8c67d95907bec1b9515826dd80c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1248/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.7_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1249/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed359513b17a4642e7f65016e01d98830b83ee3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1249/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.8_0.0_MultiDynamics_arc_17_0.185_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f689ac782edccfd95c74a781f18f54299c717e39
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_125/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.530_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1250/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c413fc3cf3f03a3b3b363b789d33c5b0bfc5d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1250/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-1.9_0.0_MultiDynamics_arc_18_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1251/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e11ad03c8e59570ecb61a118692e348e7eff90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1251/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1252/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3dc56538a8cac4c2d41f7dec256dc5b917f103
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1252/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_-2.0_0.0_MultiDynamics_arc_19_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1253/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc61cdebe86d0ea6617ba4ec58af1d69c61a853a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1253/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1254/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8403a409678ee5c10d4e33d5da17e62963f5e2aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1254/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_0.8_0.0_MultiDynamics_arc_8_0.394_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1255/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf04c0a975be74a0611d858a07576370b12957e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1255/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_0.9_0.0_MultiDynamics_arc_8_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1256/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd45b529b813e680afa5b85415a0642708ddf9d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1256/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.0_0.0_MultiDynamics_arc_9_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1257/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd2995043e6bc77bd15b861619e1b26136f194d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1257/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.1_0.0_MultiDynamics_arc_11_0.286_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1258/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4527e53a0fe7e55d0d69536e1143e0a005ef7d2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1258/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.2_0.0_MultiDynamics_arc_11_0.286_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1259/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..983d0b9b87919154ea7fd8b59a0a410b29d4c7ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1259/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.3_0.0_MultiDynamics_arc_12_0.263_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f754b4c2bcb540947ae8d1a09f83de7a267e771
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_126/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.062,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.580_0.062_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1260/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e289c84a8cd2b2669b475ccc3bf63567a655a0ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1260/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.4_0.0_MultiDynamics_arc_13_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1261/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4a64fac51fb51f554ce51e479deb073011d527c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1261/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.5_0.0_MultiDynamics_arc_14_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1262/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85713910cbd84601c76041856416b09a6c458d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1262/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.6_0.0_MultiDynamics_arc_16_0.197_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1263/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fe5532b3733a2d196dfd0844f5e8c4870de815
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1263/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.7_0.0_MultiDynamics_arc_16_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1264/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0151a57e2b1c91cb984a3066af691413be1694
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1264/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.8_0.0_MultiDynamics_arc_17_0.185_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1265/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5cbb12e8f7b1060e9a9e0df8832939acce8b666
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1265/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_1.9_0.0_MultiDynamics_arc_18_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1266/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f0c7160a40808ecc2e258cc63e87556e4eca7af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1266/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1267/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84e3a54d160c4dd72ffd70d5aaebfe9e8809b06d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1267/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.6_2.0_0.0_MultiDynamics_arc_19_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1268/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a45d74bc5090a59bb6f159ca484b950c6ae7982
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1268/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1269/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16be4ae01a81029900adadba221880da5d00bf6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1269/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-0.8_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d66971a6e1f81536ebb2452f1361608c1acc1a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_127/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.062,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.630_0.062_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1270/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..545a780a50f1a6e78c1aa771d14f7afd79651d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1270/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-0.9_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1271/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1087c6b2c75966748067fe1c5556d1d38931885f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1271/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.0_0.0_MultiDynamics_arc_9_0.361_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1272/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c98d30dd0c3d5d360b84f285d151b6dda6cabd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1272/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.1_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1273/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7efa4074a441d2d24acbd2de7b96f314da215988
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1273/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.2_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1274/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d9d3b3756de94518795597ee065711bc27d631
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1274/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.3_0.0_MultiDynamics_arc_12_0.271_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1275/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c1c8e51d55dbded4d25aba7a8fb40dafce7b1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1275/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.4_0.0_MultiDynamics_arc_13_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1276/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae1f8797608b1df02aa5829824d48d712d8d80c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1276/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.5_0.0_MultiDynamics_arc_14_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1277/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e66bc9952483b187d7610ce96544031623c8e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1277/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.6_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1278/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4295752415856bd67d40ea7bc1005766fc55086c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1278/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.7_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1279/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77afcbf6da59aac4af5e488225b0bcac025525ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1279/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.8_0.0_MultiDynamics_arc_17_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..341e9ad23972850d671e09016ffb4487cb5f2f34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_128/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.477_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1280/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d022e87bee8ea2e11a0fa7678ebe98042f03e85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1280/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-1.9_0.0_MultiDynamics_arc_18_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1281/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc23ac1e6fb821508233ce4cc0f4a1656b1fb54
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1281/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1282/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64629f40b0f0629578e74b031359961db875ee6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1282/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_-2.0_0.0_MultiDynamics_arc_19_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1283/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5754891c0d35fc5718d0a0b3eb23c204eeddcb98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1283/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1284/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc475f829fbbb1c22bdf6807542f51e608edfa9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1284/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_0.8_0.0_MultiDynamics_arc_8_0.406_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1285/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7fb91f53584ee9a32362d92d3d02a5bd9bd2be9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1285/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_0.9_0.0_MultiDynamics_arc_8_0.406_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1286/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3095170d6e8cf66f422718c18b373de9e87c92fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1286/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.0_0.0_MultiDynamics_arc_9_0.361_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1287/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3b93e6f728de9dfbfb218e41890a9ec9e55599
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1287/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.1_0.0_MultiDynamics_arc_11_0.295_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1288/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5be17b440691238c82b66946897de7aa368959d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1288/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.2_0.0_MultiDynamics_arc_11_0.295_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1289/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8fe22c8ad4414fd5155759ad362bb1fde191ad3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1289/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.3_0.0_MultiDynamics_arc_12_0.271_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a202a3930d70e047600cdafb2a6ae7dcfe7cd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_129/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.510_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1290/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c203b111561e2b95bcc784ec0394aa1eacc8b43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1290/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.4_0.0_MultiDynamics_arc_13_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1291/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fa0fab5fbef092f5e2597bdf7731442a1c751c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1291/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.5_0.0_MultiDynamics_arc_14_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1292/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69d37bb1f4bc8f22927034262bbd7727bc42564
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1292/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.6_0.0_MultiDynamics_arc_16_0.203_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1293/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b04fb909a4b00b2d374e976e5750010a968f5573
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1293/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.7_0.0_MultiDynamics_arc_16_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1294/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..720eac8f5f73a58c200f4ed71d5be818b69672a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1294/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.8_0.0_MultiDynamics_arc_17_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1295/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..699ee4cdd38d008b7cb59559a0ceb52624642a2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1295/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_1.9_0.0_MultiDynamics_arc_18_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1296/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f661cc6d23db5492c3fd977a439227627b09eadf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1296/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1297/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b557eaa786161982cf9f322a2d39d46010c822
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1297/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.7_2.0_0.0_MultiDynamics_arc_19_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1298/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5da02e3b1b92e77a6f25cb1dbc1d85c3b74729c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1298/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1299/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d450d61c2fe31d85e8f78a4a901e54be8a23d69c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1299/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-0.8_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_13/meta.json b/RH5_dataset_threads_5000eps/frames/episode_13/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8314b87356dc70999ec6402769683b2d0fb2d264
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_13/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.630_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f06bb5c007e667cdce8f676c2c674e14a587aaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_130/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.543:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.2_0.0_0.0_MultiDynamics_3_0.543_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1300/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7ba341e45fa563c6ea630c596031853b28d1742
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1300/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-0.9_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1301/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb90aa25829a18c27dcf1be7e5afbf1c0fcc6a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1301/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.0_0.0_MultiDynamics_arc_9_0.372_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1302/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf826c5d3a0d3c0eb6a083696dabef489055de22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1302/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.1_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1303/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0832201550165b73a764702e6a590137748931
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1303/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.2_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1304/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..846138bb74d7ce1a23e0350e2b342998ec5c6607
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1304/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.3_0.0_MultiDynamics_arc_12_0.279_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1305/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86fec73f02017fe12d7383dd1a036067a11b3f2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1305/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.4_0.0_MultiDynamics_arc_13_0.258_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1306/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..997febb6b7e9bda83172d0037ddc01d5abe79e4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1306/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.5_0.0_MultiDynamics_arc_14_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1307/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34209c4ef350fe5bdcb82e4a3c76d413b3039fde
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1307/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.6_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1308/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0a9ac51a5cee9d59bd5ffe49dd517e0b348d7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1308/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.7_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1309/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c50a7b18359314b7dd52313a928e342ef9d560
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1309/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.8_0.0_MultiDynamics_arc_17_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df637e687bc58ec9d9336a9bd96666ee7644e4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_131/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.062,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.577_0.062_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1310/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1775b5237aaccce641959786cac93ebb2f55e0d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1310/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-1.9_0.0_MultiDynamics_arc_18_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1311/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4de4d930ba94fa2e3ef845d56c57a4d1054f9e7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1311/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1312/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8f6b733fdff6a53a99889382acd74af6b07d643
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1312/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_-2.0_0.0_MultiDynamics_arc_19_0.176_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1313/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f159ffd16939fb7cb685b46519fdf37fb88c69f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1313/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1314/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..103e1ee82611b2273578eae64e80aa9728afd49b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1314/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_0.8_0.0_MultiDynamics_arc_8_0.419_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1315/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08cb35438dea679220036b40ebd9de088cfcddc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1315/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_0.9_0.0_MultiDynamics_arc_8_0.419_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1316/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c8591c4c7b54e3d992e45b66ad0ca4915ec842
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1316/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.0_0.0_MultiDynamics_arc_9_0.372_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1317/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2b9748c3dc3902688539fbec74d08f01c640ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1317/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.1_0.0_MultiDynamics_arc_11_0.305_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1318/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6dc2c902d0abf951aa0e9034f41591a29f0e4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1318/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.2_0.0_MultiDynamics_arc_11_0.305_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1319/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d893d1a6fa1d28521bf4693b0aea76a2ba4138f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1319/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.3_0.0_MultiDynamics_arc_12_0.279_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5703b7bc926509e00d73defcab4eab96b4470c90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_132/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.630_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1320/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00bfe261d2d9b8e2bf7d9c4797fbbff92fc04a27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1320/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.4_0.0_MultiDynamics_arc_13_0.258_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1321/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee023c2ccc94cc326b55bc06842b4447c4c08008
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1321/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.5_0.0_MultiDynamics_arc_14_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1322/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd715a5e15d24b9aad3424696079e43db19b1c5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1322/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.6_0.0_MultiDynamics_arc_16_0.209_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1323/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..762c297796ba78a6578aa89c5c461ec6e1bfe2a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1323/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.7_0.0_MultiDynamics_arc_16_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1324/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8dbf06d4627a6150f1e112c9c0f2e42d94918f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1324/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.8_0.0_MultiDynamics_arc_17_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1325/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86734e8a0a649afc7eae7d9233527b8b50ce78d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1325/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_1.9_0.0_MultiDynamics_arc_18_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1326/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b55612f6a073c3078d45a56c430c4cb92af78aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1326/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1327/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8474a1043daf58a5b2b47c9d908fbfd7be8c57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1327/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.8_2.0_0.0_MultiDynamics_arc_19_0.176_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1328/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d2f7fb7205fdb07d10a368d02b277f4b95e91f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1328/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1329/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a627a83d5e2d8e0ef4c9a35ddc3fb5a786e03f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1329/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-0.8_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca861c98ae2571d6977f1739d1f1c2baea8786af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_133/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.062,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.490_0.062_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1330/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b254625badb381ee198efecb874ea1ea09869d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1330/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-0.9_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1331/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ca2a723663a6d9a38d60d7ca2ff09a450dfb5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1331/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.0_0.0_MultiDynamics_arc_9_0.383_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1332/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c30d876ffebe5da1670494b9d3468d31e52981
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1332/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.1_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1333/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1febab0245f2b255992e23ca11d4971a054aecd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1333/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.2_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1334/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04bb1a1e0ebd19988f2462e4ac516d87eee4af5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1334/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.3_0.0_MultiDynamics_arc_12_0.287_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1335/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbbd1cc3feff1c5e7c0edecfaef06da0803c94f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1335/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.4_0.0_MultiDynamics_arc_13_0.265_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1336/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b006e11c0fba73aed6bf0784fc68c0dc177e71
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1336/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.5_0.0_MultiDynamics_arc_14_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1337/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7ed4878d0ecfe7d233450a0376f0b9bd88e199
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1337/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.6_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1338/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df4125aa5849cea69aeb07918179a31422df5fc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1338/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.7_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1339/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3534fe6a351f1c34b50586c7b739fd80b043029a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1339/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.8_0.0_MultiDynamics_arc_17_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a43059ae2bddb1b8a2e9b9a8e8a0588d187150e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_134/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1340/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..575381852605d63f9953b79ec5ea93cb624dbf6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1340/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-1.9_0.0_MultiDynamics_arc_18_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1341/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31fa76f1aaf36bb66b89e8029b3b1d63e4ec4480
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1341/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (3.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1342/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c4b5a1d5014b1879661122fa2c961af08495223
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1342/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_-2.0_0.0_MultiDynamics_arc_19_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1343/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0904d15da7b2f4e39b56f9833a4f0c38370e44e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1343/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (3.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1344/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f0d3dc46469266c2f4d2f3907ecaab36c0a539
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1344/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_0.8_0.0_MultiDynamics_arc_8_0.431_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1345/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96566b3e247311a797bada7ec3ff458f1cbfc30b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1345/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (3.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_0.9_0.0_MultiDynamics_arc_8_0.431_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1346/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68ca019e90d624435fb25eb536c55db906fd891
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1346/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (3.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.0_0.0_MultiDynamics_arc_9_0.383_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1347/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1855d0affe34a356f05ad35b668040952c44a9a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1347/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.1_0.0_MultiDynamics_arc_11_0.314_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1348/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd28f0cefade8e19da55ecb977774cb028671fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1348/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (3.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.2_0.0_MultiDynamics_arc_11_0.314_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1349/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c45589b4caafb68f673ac7368dab8da3b903766
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1349/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (3.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.3_0.0_MultiDynamics_arc_12_0.287_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a286b0e7923fa836963cfc40e105b32750c8424
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_135/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.540:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.540_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1350/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15a89c2c4966bf9eea357ed8ceb9cf2726a28ac4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1350/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (3.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.4_0.0_MultiDynamics_arc_13_0.265_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1351/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98aa55ecc253c9f55fa615627bf65602075ed4da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1351/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (3.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.5_0.0_MultiDynamics_arc_14_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1352/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a43b2d406d771e53e5c1918ef522c46f8c4fbb3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1352/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.6_0.0_MultiDynamics_arc_16_0.216_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1353/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2deb81390e68ba21f4b078e75b658c552098b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1353/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (3.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.7_0.0_MultiDynamics_arc_16_0.216_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1354/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b9786609f0f4dc1f40e4cdf71bd8061fecb853
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1354/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (3.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.8_0.0_MultiDynamics_arc_17_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1355/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..948301a5fc4e686fbe0ac9d926ecec31dc77aad9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1355/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (3.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_1.9_0.0_MultiDynamics_arc_18_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1356/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..858a0581da1ed051b9ce6292a2cf68913bfc8c0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1356/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (4.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1357/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2fff8f90b52c2de72f6442e6d8272326932285c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1357/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (3.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_3.9_2.0_0.0_MultiDynamics_arc_19_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1358/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb1e6a7679fea886a139fbac4197c868fb4b0d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1358/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (4.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1359/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d81e9b4c29ee87ebc6eb6c9dabda3bcb4c2444
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1359/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (4.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-0.8_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c317bb196627cd0498b7fa2773900b5414a29f70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_136/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.560_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1360/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fac9bb74e74c566ebc2277fc003bcbb4902f94a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1360/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (4.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-0.9_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1361/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e61f0862dd55dfc16f23a3e5a39ad9970ed8ca10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1361/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (4.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.0_0.0_MultiDynamics_arc_9_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1362/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b545a8ad60e9692ba166ec272069d646218f89d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1362/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (4.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.1_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1363/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08385d5e0ee63999f5b1c2723455b30e77a3eb7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1363/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (4.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.2_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1364/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41078a79b3384697cfb9b1122fddc45fe44d0444
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1364/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (4.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.3_0.0_MultiDynamics_arc_12_0.296_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1365/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98702a76a9fd065a0b6f94a92c64e2bb7f4a09f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1365/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (4.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.4_0.0_MultiDynamics_arc_13_0.273_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1366/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc46a00730b6ca2efe25c06da1a2c538a0bca6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1366/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (4.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.5_0.0_MultiDynamics_arc_14_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1367/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7fb0d1f5dd7f14950d43fdaee1bb7630e777d6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1367/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (4.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.6_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1368/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3fef88ec5de9c23e3acdddd410ab664e4f42e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1368/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (4.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.7_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1369/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..635c9c708df6cdc6c86b09a3306cfa9b40d86d7a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1369/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (4.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.8_0.0_MultiDynamics_arc_17_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fedda2dfc8416ab089d49cd55983beb664e492e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_137/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.585_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1370/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0cf46bc07a02913bb97e6166289d04f52ae2dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1370/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (4.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-1.9_0.0_MultiDynamics_arc_18_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1371/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfeb16efa14673aa5757270974bc422d387f998
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1371/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (4.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1372/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dab86d11b57e7596a308a91e4f78b97074a1dbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1372/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (4.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_-2.0_0.0_MultiDynamics_arc_19_0.187_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1373/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..132506e540ce53a32a4e975bdde06dad566b6377
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1373/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (4.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1374/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8582cf1fa95884e45bdd2863efb7984ad17b4f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1374/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (4.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_0.8_0.0_MultiDynamics_arc_8_0.444_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1375/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4498b66ea5e73f3fa2709d8547b1c3a43aa25668
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1375/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (4.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_0.9_0.0_MultiDynamics_arc_8_0.444_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1376/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..649c9adb4ec0d7b125279c4d64e2b7281e27a7a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1376/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (4.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.0_0.0_MultiDynamics_arc_9_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1377/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b64ea607487bc87c7d8805ba1af330e7e1ee21b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1377/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (4.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.1_0.0_MultiDynamics_arc_11_0.323_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1378/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b43fccdecd433890761e95919dfbc6bc98efdf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1378/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (4.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.2_0.0_MultiDynamics_arc_11_0.323_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1379/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c61164959f7ec0c7aefce30edc7b2f3d8e66510
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1379/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (4.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.3_0.0_MultiDynamics_arc_12_0.296_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05560601c8128f2f05c7e6774aa47bf9a252fde6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_138/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.610_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1380/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abe7f3194ed2d45326a2a2a4227783a6a43a7190
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1380/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (4.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.4_0.0_MultiDynamics_arc_13_0.273_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1381/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6159587cc67793f63e754a4056d0ffd1b7b383
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1381/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (4.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.5_0.0_MultiDynamics_arc_14_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1382/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe583f2e6141006d114ec2194995b016c769644c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1382/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (4.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.6_0.0_MultiDynamics_arc_16_0.222_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1383/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6390f7e3831434f9102f8a0907b09fddb6a913
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1383/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (4.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.7_0.0_MultiDynamics_arc_16_0.222_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1384/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dac2b41a049754eaf7443f0edf4b8587eec8e2f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1384/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (4.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.8_0.0_MultiDynamics_arc_17_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1385/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6312ee9c49efe9ce9f3bf0c9f6cb5580183c8a5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1385/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (4.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_1.9_0.0_MultiDynamics_arc_18_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1386/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d48c04a6bba4614bc543636ea47213c24fb76c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1386/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-0.6_0.0_MultiDynamics_arc_5_0.110_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1387/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b578fb2294caa1969792fc38bc1ade85359232
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1387/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (4.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_4.0_2.0_0.0_MultiDynamics_arc_19_0.187_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1388/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4375deaf49e4df8c2a98e6243b2a83c6fca31766
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1388/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-0.7_0.0_MultiDynamics_arc_6_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1389/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..553da55dc45a08de2b0f787d4ee1b4d8d1b57c12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1389/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-0.8_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81e254b1f00ae5f3ba9a0193390977c92e4eb08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_139/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.508_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1390/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f707e8ca048da01a4c002796076950e9a386369c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1390/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-0.9_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1391/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad1d870ec5ae7443b48876af18d2b5d4a5d6e84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1391/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.0_0.0_MultiDynamics_arc_9_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1392/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..159441bfd5f107793ee9510859be7b9e9904ee05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1392/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.1_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1393/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8316dfd09729b7ede7bdebc31c5ff9da829a3e91
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1393/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.2_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1394/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24dfa31a9ab7da2bbdd03c95382d1d35412b4297
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1394/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.3_0.0_MultiDynamics_arc_12_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1395/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d0d9988dcc5b0ec7e5aa04dc6e8cfbc7ed5079
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1395/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.4_0.0_MultiDynamics_arc_13_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1396/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8474f1ec3cc9ba51909fbae3cf2d791a0bd9e9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1396/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.5_0.0_MultiDynamics_arc_14_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1397/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb852aac4cc416b72549ee472a7b658e2018fc71
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1397/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.6_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1398/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ddf556fcf5254f9822b0310e4a91931f7b6081
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1398/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.7_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1399/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d0ad70512271acaa2335c8ecdd5a8d2ad488ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1399/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.8_0.0_MultiDynamics_arc_17_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_14/meta.json b/RH5_dataset_threads_5000eps/frames/episode_14/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d885542d418509bc3c79ddc32a602d41ba3bbff8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_14/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.510_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a3021e95261050e336901f825638e68d11a425c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_140/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.536_0.062_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1400/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92fc35df95eb240b0034c7ef7b849c345a9f6caf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1400/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-1.9_0.0_MultiDynamics_arc_18_0.031_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1401/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57a032b18aa7354ed4a33de51c3c2b4c7db2ce6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1401/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_0.6_0.0_MultiDynamics_arc_5_0.110_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1402/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7f3148b0a1b3606e54ca39447f883caea855078
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1402/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_-2.0_0.0_MultiDynamics_arc_19_0.029_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1403/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91bf07996e6fda6c9ce7dc9cfd3bf010a7b514f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1403/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_0.7_0.0_MultiDynamics_arc_6_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1404/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e7e3308cace909ba5ea415ce4158b114fbb14d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1404/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_0.8_0.0_MultiDynamics_arc_8_0.069_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1405/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcf3c98c08980b22ce4f4734d8a3154093dda51d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1405/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_0.9_0.0_MultiDynamics_arc_8_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1406/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6671150022d265862250657b776b3cab477116d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1406/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.0_0.0_MultiDynamics_arc_9_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1407/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36a61bd37f7351b4514024645c39f61e3ba681e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1407/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.1_0.0_MultiDynamics_arc_11_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1408/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06829227ccfb25eac6533085ed0be010bc64fc53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1408/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.2_0.0_MultiDynamics_arc_11_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1409/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a38a1663a9e35f733659ce51516fe285fbc81ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1409/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.3_0.0_MultiDynamics_arc_12_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bedcc684bba08e62e8148c0a6a855df60e4641c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_141/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.552_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1410/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d2f4208a2b0f9e01bcf7e01668f2b86a209ca5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1410/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.4_0.0_MultiDynamics_arc_13_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1411/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae61222943e2a0bd01247f0b0840445e0ce02d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1411/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.5_0.0_MultiDynamics_arc_14_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1412/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc59929eaa8d599414ccb0c1536130bd55435c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1412/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.6_0.0_MultiDynamics_arc_16_0.034_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1413/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1da3f59d2f8866aea3d44402a84363795a8c844c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1413/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.7_0.0_MultiDynamics_arc_16_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1414/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..beaf9da5be633a66992c9667b787906367fdad18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1414/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.8_0.0_MultiDynamics_arc_17_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1415/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e15d69046139e3e7c84ac629f4be8f251febbb6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1415/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_1.9_0.0_MultiDynamics_arc_18_0.031_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1416/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9bce92a7af6e05c3dd42764c8ad943873ea1a38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1416/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-0.6_0.0_MultiDynamics_arc_5_0.130_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1417/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bbfd21532ad1285c5466eb41aa62af2efbcf85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1417/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.0_2.0_0.0_MultiDynamics_arc_19_0.029_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1418/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3319ff548bf0ec45dcce4b56c72a2cce1c23f82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1418/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-0.7_0.0_MultiDynamics_arc_6_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1419/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c96224ac3a011ee3ff926230d048cb4165c2fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1419/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-0.8_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b7731d3f9c34c73dcd0e9d661286bc72940a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_142/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.568:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.295:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.568_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.295_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1420/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1160fdaefdac49c3f68ac41c873715bb91b0ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1420/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-0.9_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1421/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac996ccbf5600306caa8f19934ef06a5ef4eab7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1421/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.0_0.0_MultiDynamics_arc_9_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1422/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a818b6bb68117329f276f20c08c8cf0c8ab75dd6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1422/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.1_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1423/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..143f21b1fb9ac7eb5367476e592af3623875f087
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1423/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.2_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1424/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a49f22361ed2588459681ad47df70ece90863d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1424/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.3_0.0_MultiDynamics_arc_12_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1425/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c9ba9ed022b4083140aa18a861d4a70389aa3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1425/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.4_0.0_MultiDynamics_arc_13_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1426/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9084342d0d33bcb8d47ce6ff1226271a9a1ce0ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1426/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.5_0.0_MultiDynamics_arc_14_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1427/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a88c4ca66475edf7f178e9cbe877ead29c927c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1427/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.6_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1428/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df54bbdc229620da9233958f36ed469722d8531
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1428/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.7_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1429/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fae8cf38333fdbbcbbae5d058caa4b3cb37c8cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1429/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.8_0.0_MultiDynamics_arc_17_0.038_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b24cc9055e5791e64a7d1e91ad09bc3f5eeac98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_143/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.588_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1430/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d96e5ba64370e98842ac14a25ec646f9c890105
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1430/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-1.9_0.0_MultiDynamics_arc_18_0.036_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1431/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28fb81c831770c5599f7af6e1e643c8cdb01535b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1431/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_0.6_0.0_MultiDynamics_arc_5_0.130_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1432/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec02e3fdb44d30d192ffd89c38946baa36b71354
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1432/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_-2.0_0.0_MultiDynamics_arc_19_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1433/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b942f8dce2e36239bc5c1e33d88443b1fcbb61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1433/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_0.7_0.0_MultiDynamics_arc_6_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1434/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..465187f351052256f3505a6e98725d887560f60d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1434/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_0.8_0.0_MultiDynamics_arc_8_0.081_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1435/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e22f8aaa256653ff3fa6023383b4bbdab89fd47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1435/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_0.9_0.0_MultiDynamics_arc_8_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1436/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1796f888671bcd3a985e4311833be7df184dec98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1436/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.0_0.0_MultiDynamics_arc_9_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1437/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a183d13a75f3d28a3e51caa7307f6d8c85339b35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1437/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.1_0.0_MultiDynamics_arc_11_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1438/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95374ae50d217b55ca33ed0e317542809f34c28c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1438/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.2_0.0_MultiDynamics_arc_11_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1439/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c67a5f56ea9f819b436ed5d1565eabb75d59dd20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1439/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.3_0.0_MultiDynamics_arc_12_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67cedc3f5472944afb30de7d7d7b154c192d1639
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_144/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.614_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1440/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb9ea197a272706934e92a7233389f69369d11fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1440/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.4_0.0_MultiDynamics_arc_13_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1441/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e5ac70f7677c6a78ecaa79126ffd0ecb2ba945
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1441/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.5_0.0_MultiDynamics_arc_14_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1442/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b879a93e98f64c8e1c4b1b9c4e5eabd4fe75afd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1442/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.6_0.0_MultiDynamics_arc_16_0.041_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1443/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41fef6b4ac8744df05fbee397f57fe97272689d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1443/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.7_0.0_MultiDynamics_arc_16_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1444/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63c20e6348a325756889c37c7f5696e3dfc5ed1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1444/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.8_0.0_MultiDynamics_arc_17_0.038_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1445/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd3925cf069fb8fe05b8ab1b1b9fda7bab6964a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1445/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_1.9_0.0_MultiDynamics_arc_18_0.036_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1446/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a209794dc667d54b232e442544db1984201cc6c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1446/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-0.6_0.0_MultiDynamics_arc_5_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1447/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..646d55bf5e32f00699612e17e430077b5a1a392a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1447/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.1_2.0_0.0_MultiDynamics_arc_19_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1448/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14bc3d0f9843d0baa0b995b54d935c42c571ec65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1448/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-0.7_0.0_MultiDynamics_arc_6_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1449/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51f01b350b49d3d661dc605c8e52ba94ee8cf1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1449/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-0.8_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1423f5fe4fc9a394c5a9d5d512a62d6e91b3d1a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_145/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.7_0.0_0.0_MultiDynamics_6_0.530_0.062_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1450/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f11b74e08fa73bc50886f1f5bd9693fff9aabf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1450/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-0.9_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1451/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ea4886ba4f8b69f346de04cabebd61c0c5c086
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1451/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.0_0.0_MultiDynamics_arc_9_0.083_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1452/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95eba94044aee1a9ec973dcf7308a4d0e1ee3ab6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1452/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.1_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1453/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6399a9796ffed4a4ef4fbf2c9a92c7215370eee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1453/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.2_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1454/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..782a8ea5f3dc737f808949018d47fe282005b766
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1454/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.3_0.0_MultiDynamics_arc_12_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1455/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d76a53bf8ddd3bb18a20bbe6d30ab49350ac4f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1455/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.4_0.0_MultiDynamics_arc_13_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1456/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3bc05bbfad77b6e89c87d445a2983d018b873d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1456/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.5_0.0_MultiDynamics_arc_14_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1457/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..381b9f1699f8571046a4e1f6b1de7bdff252f0cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1457/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.6_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1458/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cac2c87d526432df6611e218b6686cbdde9ebea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1458/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.7_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1459/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f0b7e81dca2598138327c87fd404eb85a37286
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1459/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.8_0.0_MultiDynamics_arc_17_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4406d14fe3e609cde419ede8de20da25924d875f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_146/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.543:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.543_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1460/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a015b05dd0e52938a5ea09a76c3e48b3809c5d59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1460/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-1.9_0.0_MultiDynamics_arc_18_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1461/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99fff663eb431c8f64ecec9bd50f363d24f0367f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1461/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_0.6_0.0_MultiDynamics_arc_5_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1462/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c3fdd25e1bd998b896bd5471737074f17ae431
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1462/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_-2.0_0.0_MultiDynamics_arc_19_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1463/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac4ceef6aad5bed19d72b17e12ead23eb87d7476
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1463/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_0.7_0.0_MultiDynamics_arc_6_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1464/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b87bfb0eeb667335ab6548d34e20fc774983c1b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1464/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_0.8_0.0_MultiDynamics_arc_8_0.094_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1465/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36dcd964f4d1a6f1f4253304e2f70580394df8d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1465/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_0.9_0.0_MultiDynamics_arc_8_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1466/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbbb5696ca3ce724175d0b7f66ed2c3db518ef90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1466/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.0_0.0_MultiDynamics_arc_9_0.083_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1467/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce633c091584d907fe7dac4977263a224f0e96f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1467/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.1_0.0_MultiDynamics_arc_11_0.068_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1468/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..252a2ccbcd8571869279c818f888706236574fd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1468/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.2_0.0_MultiDynamics_arc_11_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1469/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db1bbf23dc4c5b0abef3b671d25adacf54ee0efb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1469/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.3_0.0_MultiDynamics_arc_12_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01bc2521f68fa6250e226c3d4ea64f56f1c4012
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_147/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.062,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.560_0.062_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1470/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d93a680b8064e269b4da56f02b8b180b1dc4c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1470/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.4_0.0_MultiDynamics_arc_13_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1471/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63d6a70fa8ebaada7b1a029677dbb481ddde822
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1471/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.5_0.0_MultiDynamics_arc_14_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1472/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac434b6a3db9f5dba4501223fef79d7d4508b175
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1472/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.6_0.0_MultiDynamics_arc_16_0.047_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1473/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b9bedf45cb4d19d6c1bc75990b40d963fb2981
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1473/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.7_0.0_MultiDynamics_arc_16_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1474/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf1c8c738c5199575abee7563db6f88f80406e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1474/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.8_0.0_MultiDynamics_arc_17_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1475/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c5c44073a16b32ce21b786734a5643b03373e99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1475/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_1.9_0.0_MultiDynamics_arc_18_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1476/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77589aca0163ce2123a57554a8b45885eb3474df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1476/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-0.6_0.0_MultiDynamics_arc_5_0.170_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1477/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fffc60767781236876e3d42cea3a992264a05728
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1477/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.2_2.0_0.0_MultiDynamics_arc_19_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1478/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac72605496d7bcb08a42771e3f2b06accc5e78a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1478/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-0.7_0.0_MultiDynamics_arc_6_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1479/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab3b0ace4c9f205188e97132e37119c2075eb0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1479/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-0.8_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1b18122dce6bddd10d84ac34338ab033d4743e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_148/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.38,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.0_0.0_0.0_MultiDynamics_1_0.380_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1480/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ef30eb3c31375b4bde0a5350e0d4c9d2dcea7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1480/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-0.9_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1481/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ae1671718a7f823e1bd502becb76565b84cee4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1481/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.0_0.0_MultiDynamics_arc_9_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1482/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4a34a2fd2d226b0d10ca50b7caecf8cea37a25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1482/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.1_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1483/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0271f9eb0495ee691181fa24125d24655c0775ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1483/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.2_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1484/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..933827d02bb6d5ab260e9fd5ad7d93f329c8224a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1484/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.3_0.0_MultiDynamics_arc_12_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1485/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4f236964d6244c6b32e0fca8c1b775a7dc0fbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1485/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.4_0.0_MultiDynamics_arc_13_0.065_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1486/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8371d1aede3c5270e2317a518b3c7cb41eb71b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1486/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.5_0.0_MultiDynamics_arc_14_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1487/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..696206ba12c7f6748a0910600a96ca685d4bc2a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1487/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.6_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1488/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38b77f7be691a2bd00c4b52d860d0aa10c3dafb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1488/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.7_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1489/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7111b472ba25b5647a41577285b868c03bf1f858
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1489/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.8_0.0_MultiDynamics_arc_17_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..740c1bd572f8a61750ec1438ad6b19fd473dc108
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_149/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.580_0.062_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1490/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..324d8e8aa2a9a663dd529d5a5841c031c078a102
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1490/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-1.9_0.0_MultiDynamics_arc_18_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1491/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..477bf2e0cd5c6854921fe606b5910d6c09ef6870
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1491/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_0.6_0.0_MultiDynamics_arc_5_0.170_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1492/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..694f9d776b58718c1ce2d84750f8db1d06503cf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1492/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_-2.0_0.0_MultiDynamics_arc_19_0.045_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1493/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7048dbf8ed109c2119695397efb102a295fb8966
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1493/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_0.7_0.0_MultiDynamics_arc_6_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1494/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b469e278d39d10c9bd81f9878f1216a2989d21bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1494/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_0.8_0.0_MultiDynamics_arc_8_0.106_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1495/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c163e35cb20cdfa680029772c501c2726be4ee8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1495/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_0.9_0.0_MultiDynamics_arc_8_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1496/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5323074894aaaf6f386e9df573d503d579424a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1496/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.0_0.0_MultiDynamics_arc_9_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1497/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa861c4a691b751f08dedfbedcf46db975079841
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1497/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.1_0.0_MultiDynamics_arc_11_0.077_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1498/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b355be34f4fe105de394311ac2efecbf76c49e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1498/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.2_0.0_MultiDynamics_arc_11_0.077_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1499/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56eada315b808c632735a7fd40d5f24a8accd05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1499/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.3_0.0_MultiDynamics_arc_12_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_15/meta.json b/RH5_dataset_threads_5000eps/frames/episode_15/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d10f9413811a7e338afd13fb8db5e16f5bffcee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_15/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.062,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.577_0.062_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6a5be6a994e20c0fa918976d9f4c88896a902b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_150/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.580_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1500/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b03e2ea6b7ff199d7270460a7978f1ffad1ada
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1500/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.4_0.0_MultiDynamics_arc_13_0.065_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1501/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67365258f7d668a1659515e6558daaab667c3349
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1501/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.5_0.0_MultiDynamics_arc_14_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1502/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e86632c7fc9f7f13f30ff1483da25d1b1ce3527c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1502/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.6_0.0_MultiDynamics_arc_16_0.053_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1503/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ce7feaabe03ad88a211e8ad74650fc0ad5963f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1503/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.7_0.0_MultiDynamics_arc_16_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1504/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0a018092ed776db7521f7bfc6c225f8a8afefa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1504/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.8_0.0_MultiDynamics_arc_17_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1505/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5624f2915c763b803f6f854802b6095194e519
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1505/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_1.9_0.0_MultiDynamics_arc_18_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1506/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb6bcdd4ed99ef97f65e14eef26b090f891a61b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1506/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-0.6_0.0_MultiDynamics_arc_5_0.190_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1507/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50437d5501827571b872c29cb9e627ec4cc6e3f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1507/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.3_2.0_0.0_MultiDynamics_arc_19_0.045_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1508/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcb2d8e8f406d5cc8768edc4dbc410229e767ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1508/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-0.7_0.0_MultiDynamics_arc_6_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1509/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6d5bd6fcbf63c1814b8d420f9bc7711c67ba4fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1509/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-0.8_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f66c37b102957fae477d36449514f71bb7e0be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_151/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.68,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.680_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1510/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b4d209241542120658a0f197bba160e94ab67c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1510/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-0.9_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1511/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53eecc681104f8f4d204f8f6abd7aedf5456963a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1511/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.0_0.0_MultiDynamics_arc_9_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1512/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..222d21380a26fca9d6cc1d93e52ccab95aeb9bf6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1512/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.1_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1513/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03bca88867a65f033073c80722588c0faaccad7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1513/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.2_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1514/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f726f042e864362db730c89efa5f7f4ba350a9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1514/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.3_0.0_MultiDynamics_arc_12_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1515/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01165b86770072f4fd4fb2949cffc7cd34e0c498
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1515/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.4_0.0_MultiDynamics_arc_13_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1516/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea71c57ff463b88c24a3a009dd9bb1685bd252ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1516/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.5_0.0_MultiDynamics_arc_14_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1517/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..805ab564003d05c2f45439f63e20b2c9f45b0a60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1517/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.6_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1518/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b12fe20ae6b569f27094c180ab7ab3d2dbfafa0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1518/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.7_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1519/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef42b1cff4510d47d5cb75ea26060d7640d63a0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1519/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.8_0.0_MultiDynamics_arc_17_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de90cf801236e9bd5bc4991c9dba2c6674bbf46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_152/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.062,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.698,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.3_0.0_0.0_MultiDynamics_1_0.698_0.062_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1520/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8074cc7da3c958cc8f7699d364b497020643b1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1520/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-1.9_0.0_MultiDynamics_arc_18_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1521/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fe95c8958e9477ed81b3cfa19bc8ded347af4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1521/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_0.6_0.0_MultiDynamics_arc_5_0.190_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1522/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a659677262bb23ea32fe4f2b27ae6b33cee4da45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1522/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_-2.0_0.0_MultiDynamics_arc_19_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1523/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..031801dbc9e8c8ec5cb9550fa40ec23ba6b2e0e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1523/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_0.7_0.0_MultiDynamics_arc_6_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1524/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9dec3a936979e30accc7be3158185c0a7e6e61e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1524/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_0.8_0.0_MultiDynamics_arc_8_0.119_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1525/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..435e4feb80d178e71883f17fb23ae2b1efd71a9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1525/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_0.9_0.0_MultiDynamics_arc_8_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1526/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a7803190da05a2d20f045a5914bc2041dbbc96e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1526/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.0_0.0_MultiDynamics_arc_9_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1527/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5688b8bb590ec717022cdb69f41bd7013a6e995
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1527/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.1_0.0_MultiDynamics_arc_11_0.086_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1528/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e37c986b2b560436f576deb4b22d6f451073317
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1528/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.2_0.0_MultiDynamics_arc_11_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1529/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deca50ae93b9ee1247d9981d1a52ed0a6fbbb20a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1529/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.3_0.0_MultiDynamics_arc_12_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c098511dd86d98de08b4ee38a0807ccabf92d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_153/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.399,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.399_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1530/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c8ab8ba1b667d4675b7100e58aa298d27da3b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1530/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.4_0.0_MultiDynamics_arc_13_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1531/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a234bca15563fcf06f1963d4ed4399497174a586
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1531/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.5_0.0_MultiDynamics_arc_14_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1532/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df1e12b14a725d89615289336e550edea300ce0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1532/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.6_0.0_MultiDynamics_arc_16_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1533/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62958502cf05345cc02a5950890fde7d65d04eb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1533/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.7_0.0_MultiDynamics_arc_16_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1534/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..620f271490bc45264ac10fbb731d09de6e95303c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1534/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.8_0.0_MultiDynamics_arc_17_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1535/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbe3ef3ed1dc54b87f4094b5d033d9441bb0c0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1535/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_1.9_0.0_MultiDynamics_arc_18_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1536/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3a08839b80db536edf46598d4b297a874287f45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1536/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-0.6_0.0_MultiDynamics_arc_5_0.210_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1537/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1c1adf43cb1f189ca19f5f075a67fedc29d13c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1537/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.4_2.0_0.0_MultiDynamics_arc_19_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1538/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26af841e3761da3c0d7ffc64a31abaa630b7cc0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1538/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-0.7_0.0_MultiDynamics_arc_6_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1539/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6ffd6eb187dca8930eef5809f8c0a2d82c2a9b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1539/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-0.8_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37c4f00d3c686e42d42cba72816a8e3cb3aaa989
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_154/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.465,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.465_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1540/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41cbfb0c64c55c5bd18f3891f4db2cda27289fd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1540/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-0.9_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1541/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb4066d3db823ba6ce8cad3fef100f48b8b8d91
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1541/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.0_0.0_MultiDynamics_arc_9_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1542/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff45653f4e62c34bac82fb872101f514c0994be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1542/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.1_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1543/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8297cef627e5f8d2abea2712ee5a18a2905358ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1543/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.2_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1544/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6343cab90fe39982b483b6290a89b5e31f1088da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1544/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.3_0.0_MultiDynamics_arc_12_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1545/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b50cee630078ab2432cd03bcd694fbe1627759
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1545/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.4_0.0_MultiDynamics_arc_13_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1546/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..956f0e2bd0e41705f5c161f8f90fd3479979669a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1546/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.5_0.0_MultiDynamics_arc_14_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1547/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b12adabbd50ee01bd8349659e27720c479a4f2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1547/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.6_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1548/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9fc4a8e631540cec893a340d74deea403ae859
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1548/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.7_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1549/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d1b1ed0df645b0aa98e3f927a186367861cf4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1549/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.8_0.0_MultiDynamics_arc_17_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac67965b8181f76c8f2267e26a7d8e50646a244d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_155/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.515,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.6_0.0_0.0_MultiDynamics_2_0.515_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1550/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90a7add449d980108da522d938add2d34974406
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1550/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-1.9_0.0_MultiDynamics_arc_18_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1551/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..815a97874282a345ad51532f73f9ba9ee5f535a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1551/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_0.6_0.0_MultiDynamics_arc_5_0.210_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1552/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..377ee7c3111a626be85439fc67917271e9f513ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1552/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_-2.0_0.0_MultiDynamics_arc_19_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1553/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65a06913352adb928404a79272de95f8ec6af36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1553/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_0.7_0.0_MultiDynamics_arc_6_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1554/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8633d174a21bf4134ef5f06ffc4661766c0763
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1554/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_0.8_0.0_MultiDynamics_arc_8_0.131_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1555/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a36fe811d699adbc5ae6d6d3b5e803aaddaeec0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1555/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_0.9_0.0_MultiDynamics_arc_8_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1556/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1ba31ac0e45e6d613b50b5ca1373f773aa3f5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1556/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.0_0.0_MultiDynamics_arc_9_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1557/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c2321a06a3835a5ce3ac38cdc704957a79ea95
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1557/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.1_0.0_MultiDynamics_arc_11_0.095_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1558/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e14e99945f22be81a5a0633d35180ff974c47f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1558/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.2_0.0_MultiDynamics_arc_11_0.095_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1559/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f2336396e395f257ae987c789177e83535dac0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1559/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.3_0.0_MultiDynamics_arc_12_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a52f7ed205067eb58e6c732f4664ed983403af8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_156/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.565,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.565_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1560/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3fa2c92994f04f4144818597a7694270fda62c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1560/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.4_0.0_MultiDynamics_arc_13_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1561/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0988d07f5c1dcc92d204595eca8df5e09dbe65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1561/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.5_0.0_MultiDynamics_arc_14_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1562/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa7fcd19806b6989549f968813c5235648b1843
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1562/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.6_0.0_MultiDynamics_arc_16_0.066_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1563/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3bcfc7c68b33122bde69fc157073565d8072a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1563/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.7_0.0_MultiDynamics_arc_16_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1564/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6269add95ae535b152508ff2b80ed9c89d2d1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1564/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.8_0.0_MultiDynamics_arc_17_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1565/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7199d6166a508432c06e03ba04e7ef0f08cd4759
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1565/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_1.9_0.0_MultiDynamics_arc_18_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1566/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d710524c3371e962c8fac662d86def6fdfe84db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1566/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-0.6_0.0_MultiDynamics_arc_5_0.230_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1567/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c0b3ddbfec8c9a270ccc1790e7355ddcddcea0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1567/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.5_2.0_0.0_MultiDynamics_arc_19_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1568/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b708ab06a54d3db520e8b31e233b326993ccd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1568/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-0.7_0.0_MultiDynamics_arc_6_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1569/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c522d15c5b990376fca9666f9591421f7d6b3f15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1569/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-0.8_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c54b69320407635eb159d03aa8b04c2ca5c52ee3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_157/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.615,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.615_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1570/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04eae7eb370d9a5b29a6dd7cbaf62c88c49ae60b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1570/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-0.9_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1571/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb066dbfd61ba27caa0263d1dea64b3299df6c27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1571/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.0_0.0_MultiDynamics_arc_9_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1572/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2bb7157e5efeb82a09faf16e0aeb628b1399c05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1572/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.1_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1573/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ae0842e1a8f2bb37b8f223652bcdcae1d9a14d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1573/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.2_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1574/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..031c0aebcc85f5ea80aa1b5a95d5eb24f33dc99c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1574/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.3_0.0_MultiDynamics_arc_12_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1575/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee756b738eaf3484462337c1f95459d3e0c4743
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1575/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.4_0.0_MultiDynamics_arc_13_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1576/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1efec853a62d778204bc256ae42989607c13c78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1576/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.5_0.0_MultiDynamics_arc_14_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1577/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d386be10930c51914d0a91067af98a3c96a658
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1577/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.6_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1578/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f16e9da7d17a71958d4da197549e6ec9c78b5edd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1578/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.7_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1579/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b2682f359f9f8b43bb2aabd5ea0588f414d809
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1579/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.8_0.0_MultiDynamics_arc_17_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9981745b2f7b2488d97da11e10ab42dc56a1fe82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_158/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.433:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.433,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 1.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_1.9_0.0_0.0_MultiDynamics_3_0.433_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1580/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..987c3def533c1f01e86a00023e2af34c1b91e6a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1580/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-1.9_0.0_MultiDynamics_arc_18_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1581/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..160f870debfc86589f930dffffe9cf6aa9ce3f1e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1581/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_0.6_0.0_MultiDynamics_arc_5_0.230_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1582/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c0fcba9eabe1c8b903a4e4e0b87f55775b1c05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1582/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_-2.0_0.0_MultiDynamics_arc_19_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1583/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6946a370316909a774c8dff855f1ae3e9e69a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1583/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_0.7_0.0_MultiDynamics_arc_6_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1584/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac57a8b292e84683e44286ec338e09a9f94d7be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1584/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_0.8_0.0_MultiDynamics_arc_8_0.144_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1585/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e73eb48f5a2c8a0b1e0dd7beac2ae3083d6177
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1585/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_0.9_0.0_MultiDynamics_arc_8_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1586/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d189fb2ae6ebd8ce254a30c08caa197cd8ec94e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1586/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.0_0.0_MultiDynamics_arc_9_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1587/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2566cf237bab962f4dd6af4d497e3f479d9b1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1587/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.1_0.0_MultiDynamics_arc_11_0.105_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1588/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9c89ca6587b3b39147150b003ed484a9f26b06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1588/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.2_0.0_MultiDynamics_arc_11_0.105_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1589/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27febb1125c52d1292d89060809da9ef5a971784
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1589/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.3_0.0_MultiDynamics_arc_12_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..096d2ffd7ad375800e02e873a39b1bc9a4a73f2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_159/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.466,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.0_0.0_0.0_MultiDynamics_3_0.466_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1590/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0bc34d73d1f26ad20c1f8db47c4a5912204a8a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1590/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.4_0.0_MultiDynamics_arc_13_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1591/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2eee5ce3e18b6170432ede165af1727fd08830b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1591/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.5_0.0_MultiDynamics_arc_14_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1592/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c946047a09ee5f68a214965c7059583cc8b4e63f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1592/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.6_0.0_MultiDynamics_arc_16_0.072_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1593/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6622a2bb29e2734e0ba8a84dd61e86abe422881
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1593/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.7_0.0_MultiDynamics_arc_16_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1594/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f29e63b40df456431d9b6f294404b0e0957c8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1594/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.8_0.0_MultiDynamics_arc_17_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1595/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb5534a90af18638201974569a3dc0cdcb0f333
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1595/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_1.9_0.0_MultiDynamics_arc_18_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1596/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..600a10a80433d2b9b1224ba0b0200745fc6e9253
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1596/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-0.6_0.0_MultiDynamics_arc_5_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1597/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f643db3d065371da9e509101b5ef6f412277895
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1597/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.6_2.0_0.0_MultiDynamics_arc_19_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1598/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3501ae2b077df152448b1dc20922cf51e6f17e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1598/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-0.7_0.0_MultiDynamics_arc_6_0.208_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1599/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee57d4370c3788b40208d97b3063213bf0a988ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1599/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-0.8_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_16/meta.json b/RH5_dataset_threads_5000eps/frames/episode_16/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df4d626328ff3dd926d5a92e72220a98d6ea5ffe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_16/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.560_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1bae9110a28c10a06c3bf12a3088696a1196f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_160/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.499,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.1_0.0_0.0_MultiDynamics_3_0.499_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1600/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16486387e7c879c15a4520750cc98c440b5595c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1600/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-0.9_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1601/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce478f1d575f3f31ca9bbf88da5c61f601a74bc2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1601/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.0_0.0_MultiDynamics_arc_9_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1602/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0de5f220c6fec8bd1a91f1728ec1e51fb4d3a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1602/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.1_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1603/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d0de0c25adb5aa657e4c2093d7803360d3e307f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1603/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.2_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1604/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92be4e91b565177ec2c959e42064bab85b462ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1604/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.3_0.0_MultiDynamics_arc_12_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1605/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f2d986c402671c1bac2e9e62e1f183c3c84b37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1605/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.4_0.0_MultiDynamics_arc_13_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1606/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91457da6f281785c58a14ce08ba14e73f21cda47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1606/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.5_0.0_MultiDynamics_arc_14_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1607/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41c278317a5374375c266a76ca6b7d5ad3dafd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1607/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.6_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1608/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1481e0841e91148ca8d2c010826c3b90a4595778
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1608/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.7_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1609/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d01d2224da766209a74cfcc586ce8cddd3a6883
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1609/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.8_0.0_MultiDynamics_arc_17_0.074_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fa253c0258215ce3ed938888d255987a91852ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_161/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.533:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.533,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.2_0.0_0.0_MultiDynamics_3_0.533_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1610/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..883c052ae0704655f3ca7edaa5faeb75d733a7d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1610/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-1.9_0.0_MultiDynamics_arc_18_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1611/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc7371a63c76b7ed50c9bed8b5158a7e360a9aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1611/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_0.6_0.0_MultiDynamics_arc_5_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1612/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f40d632d51b3b2f76ad46ed8a2a5570b8c12e26
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1612/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_-2.0_0.0_MultiDynamics_arc_19_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1613/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86a89bf16b248566f8de01b878f7c7d2609fed01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1613/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_0.7_0.0_MultiDynamics_arc_6_0.208_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1614/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de989ef5cd783670cefa38694e87ba3a6ea3af8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1614/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_0.8_0.0_MultiDynamics_arc_8_0.156_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1615/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55d7d624a140b30e24101d4fc0f301b597e5546
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1615/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_0.9_0.0_MultiDynamics_arc_8_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1616/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3cce63833e8c9adb35355f0da64b19a7f509670
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1616/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.0_0.0_MultiDynamics_arc_9_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1617/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e01599e832923b8d925876c458e5c4576bca2b35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1617/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.1_0.0_MultiDynamics_arc_11_0.114_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1618/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69665d780bc991df2ee76050b81b27d082dd955a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1618/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.2_0.0_MultiDynamics_arc_11_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1619/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab175174f250058796aa436b9121c068203e958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1619/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.3_0.0_MultiDynamics_arc_12_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a936d0f48b9d13af46b9adf6045c7e4d22546b20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_162/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.062,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.3_0.0_0.0_MultiDynamics_3_0.566_0.062_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1620/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c9b7b51c44892cf5dc65aa1f819a607bd7e062
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1620/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.4_0.0_MultiDynamics_arc_13_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1621/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd7b14c0a724bb8a4a86364de27fc00efa58b5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1621/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.5_0.0_MultiDynamics_arc_14_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1622/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b4b7728bb253b0c3fa4c6b462ad8619f75eed1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1622/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.6_0.0_MultiDynamics_arc_16_0.078_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1623/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..658b528f68c45d7af454a72f807bf7470a2439bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1623/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.7_0.0_MultiDynamics_arc_16_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1624/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f52590c90f2b728d33d4cdccb89063c14abf9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1624/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.8_0.0_MultiDynamics_arc_17_0.074_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1625/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3532ca77b48bc884639d4708bfc5a42b5bb9994
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1625/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_1.9_0.0_MultiDynamics_arc_18_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1626/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acae383608853ceb2ed920cf83e2d8426c86f494
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1626/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-0.6_0.0_MultiDynamics_arc_5_0.270_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1627/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f85390f2f18978b24754d72f2c89fbfcff2731
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1627/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.7_2.0_0.0_MultiDynamics_arc_19_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1628/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e9ddfe3049ed7d51de8b4eb84e3ab36e576278
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1628/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-0.7_0.0_MultiDynamics_arc_6_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1629/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23647d349cdec622f73d4f0457ac659e8d5004b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1629/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-0.8_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..709aa95445d2550bb05bb056374a78858419f956
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_163/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.062,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.61,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.4_0.0_0.0_MultiDynamics_3_0.610_0.062_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1630/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a0d6e95fe984ee69bdbef687b3eb1783e0990f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1630/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-0.9_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1631/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..387fd5f062807b6794cb803003f1fdea149db5eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1631/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.0_0.0_MultiDynamics_arc_9_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1632/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e792eb5f73d804d32d90c78c0219079266dcf82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1632/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.1_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1633/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81d453d497ba4c4cc4a05fb39730ba1e4d80ee04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1633/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.2_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1634/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4261cc5e51c053db8c102bcd6de220ee6d0b13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1634/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.3_0.0_MultiDynamics_arc_12_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1635/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..addbb400fec2880bf37df23cb5fdcfd2fdd5212e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1635/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.4_0.0_MultiDynamics_arc_13_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1636/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea0ffd99bad09d68c3bc6aab42ab2ced01694a09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1636/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.5_0.0_MultiDynamics_arc_14_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1637/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f79413affccb9faec4152ec492666508c1232e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1637/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.6_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1638/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf395e57a276aba78e186a7a74eb8c1e11762f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1638/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.7_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1639/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf43203c7c650a4d42952b14268d8fb3c3c9949
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1639/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.8_0.0_MultiDynamics_arc_17_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4da631a17988fa696276af16fa935efc4aac7c66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_164/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.482,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.482_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1640/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57be01efd32dd33629e475b05bb14a2815d4a968
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1640/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-1.9_0.0_MultiDynamics_arc_18_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1641/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39f0a04796ac10e0fea2ddf6978ed2381db2ca6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1641/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_0.6_0.0_MultiDynamics_arc_5_0.270_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1642/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11f12583ef77e79a50a250370c3f5eb5e356ad6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1642/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_-2.0_0.0_MultiDynamics_arc_19_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1643/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f418d2f0e02cf2eadcd750aa5cba32ea22a1a12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1643/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_0.7_0.0_MultiDynamics_arc_6_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1644/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..754a934b433be7dd5d41094178ac39e1cc638466
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1644/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_0.8_0.0_MultiDynamics_arc_8_0.169_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1645/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e7f659bc9ae7295114c7fa0d00fdb358cb5ad5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1645/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_0.9_0.0_MultiDynamics_arc_8_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1646/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc211b2278e81d2eef58907891cd6c2978c8b7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1646/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.0_0.0_MultiDynamics_arc_9_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1647/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc6b7d7808062d9fb2841e09600e22ea50e81a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1647/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.1_0.0_MultiDynamics_arc_11_0.123_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1648/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3862411e66c01c73016a81d4a056e59e1a97a2ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1648/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.2_0.0_MultiDynamics_arc_11_0.123_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1649/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a5cf4d242c317a73f5115a30470c52893f4e06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1649/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.3_0.0_MultiDynamics_arc_12_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8140136474e185c196801163ccb51fd88e4fc17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_165/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.508,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1650/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11797637babc8b9c31118a0a17ca82552aad548
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1650/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.4_0.0_MultiDynamics_arc_13_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1651/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a9fddf8e310560d87476202495da53cbebf564
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1651/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.5_0.0_MultiDynamics_arc_14_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1652/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7045654d527b1ec1b69def7e48c9b163edfa8ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1652/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.6_0.0_MultiDynamics_arc_16_0.084_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1653/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff13e3ce6810c9f2ddd80e06a9a6ac810af35829
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1653/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.7_0.0_MultiDynamics_arc_16_0.084_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1654/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac3718c1cc3a682ed7bd4ef498cda5082126b1e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1654/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.8_0.0_MultiDynamics_arc_17_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1655/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cf7c6f09da9f7818599033ea132221fa8ae0c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1655/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_1.9_0.0_MultiDynamics_arc_18_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1656/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cbcd475c81602ed441dea7be242dcd4d624204
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1656/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-0.6_0.0_MultiDynamics_arc_5_0.290_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1657/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..318038c808f4542e731c2492b59838655df8bcba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1657/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.8_2.0_0.0_MultiDynamics_arc_19_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1658/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34bec5cd6548e37e5031ae662d7408df4435d79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1658/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-0.7_0.0_MultiDynamics_arc_6_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1659/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ec6e4b64f44d7d4effffc67ea6e89cde02a788
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1659/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-0.8_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a7ac53c217ee0a7bf23cedb650e57001aa092a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_166/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.532,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.532_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1660/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ec4d0cb00a7ab0c9b738c8612a1bfbe459471d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1660/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-0.9_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1661/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..478ffa0abdf7dc356a0e6b490687573fde5f95dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1661/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.0_0.0_MultiDynamics_arc_9_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1662/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4215717e041bc653ec5d7a05c82649e257c481
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1662/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.1_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1663/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0242adc26c793fefd60d45758d00027ce20d5fc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1663/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.2_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1664/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..668356b817fc90db1590087921970be4074c915c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1664/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.3_0.0_MultiDynamics_arc_12_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1665/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..319f8703ac13de9f3e69663fd4411544fc49fa0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1665/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.4_0.0_MultiDynamics_arc_13_0.112_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1666/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceceb8ebb3c64f5223727a79eba4c7d1e60105fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1666/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.5_0.0_MultiDynamics_arc_14_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1667/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5de3038b07bdd5f10e4381be84a49e49c4611aee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1667/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.6_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1668/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..109b7a9126cc80a5b06dc3481034d5253b30fb13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1668/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.7_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1669/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5629f002f236b994ad41e65775b8038d3440f452
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1669/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.8_0.0_MultiDynamics_arc_17_0.085_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08990a41c84d949f3f98f55b89dae44dc63cede8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_167/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.557,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.8_0.0_0.0_MultiDynamics_4_0.557_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1670/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3d82ea3c07caab82a6b375cebac2efa4940f78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1670/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-1.9_0.0_MultiDynamics_arc_18_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1671/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..207eb69791bed6c9c80e86e7572838523a1c6b78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1671/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (1.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_0.6_0.0_MultiDynamics_arc_5_0.290_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1672/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b5b695f72a9bc2b7e5a537f7cb1fa604e380ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1672/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_-2.0_0.0_MultiDynamics_arc_19_0.076_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1673/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3980d88d8113989a3b30fd100b64ea36c2b278e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1673/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (1.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_0.7_0.0_MultiDynamics_arc_6_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1674/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..996fcca6993a929abeb9696e13d4259f5b0263fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1674/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_0.8_0.0_MultiDynamics_arc_8_0.181_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1675/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d3091708387d142272b36a8e6d55c07b09c525c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1675/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (1.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_0.9_0.0_MultiDynamics_arc_8_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1676/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3d5af89e9f1121e39bdac6481b7c59d4533e55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1676/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (1.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.0_0.0_MultiDynamics_arc_9_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1677/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b19f15e7bef3e697feb65cf16885d67a5babc8b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1677/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.1_0.0_MultiDynamics_arc_11_0.132_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1678/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51c046ad090d62a9a46e6df7cb9940e63ecdaf8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1678/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (1.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.2_0.0_MultiDynamics_arc_11_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1679/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01825d7046e24d307f4e0771f14f91dfa4074547
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1679/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (1.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.3_0.0_MultiDynamics_arc_12_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5233e2fe6fef0c2a60fb4ac639c262560edc12d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_168/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.062,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.583_0.062_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1680/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3121e9f306d677b3da006bb59bde79f849255c96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1680/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (1.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.4_0.0_MultiDynamics_arc_13_0.112_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1681/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90346b8194e12b07c11963e95e8dea0f2653aad5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1681/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (1.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.5_0.0_MultiDynamics_arc_14_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1682/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e73df94855a6e4240693aa344a6512b630994aa8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1682/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.6_0.0_MultiDynamics_arc_16_0.091_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1683/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ad2dd03a267dcfea8c843c3fcfaced70f08022
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1683/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (1.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.7_0.0_MultiDynamics_arc_16_0.091_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1684/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c113d5d5fcb09f7dbeb5ac1607cf8a8a40bb0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1684/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (1.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.8_0.0_MultiDynamics_arc_17_0.085_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1685/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b012d9b17c2af1f06e516d4cf0e951081ddd445b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1685/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (1.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_1.9_0.0_MultiDynamics_arc_18_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1686/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04c7dfca720b5476876b94dbb1a98560c5d2b882
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1686/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-0.6_0.0_MultiDynamics_arc_5_0.310_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1687/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b44a088d536f4a3b43c6be7ca8a7f2a006b4fc5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1687/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (1.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_1.9_2.0_0.0_MultiDynamics_arc_19_0.076_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1688/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7403d79ef88cd68c486bbf4965f1156d7ea9b6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1688/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-0.7_0.0_MultiDynamics_arc_6_0.258_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1689/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b1f644d907dd7bf48d25ca423492c7e9f11981
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1689/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-0.8_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1898ed6817f1090a120f57f691309564b3a85024
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_169/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.607,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.607_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1690/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..519972450a81c2ae7857762eb56b7a0f7b1e3479
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1690/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-0.9_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1691/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb246d36e6c66e8336717be47ad7fa30c055fd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1691/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.0_0.0_MultiDynamics_arc_9_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1692/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f663d84000c6dd4982dc9ecd5eed4faf6c5e37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1692/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.1_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1693/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df970b6ebcee52f6f60e9da329438b179b410a4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1693/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.2_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1694/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f41a7817ebda2516a1bfababf040d0c35abfc0e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1694/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.3_0.0_MultiDynamics_arc_12_0.129_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1695/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba2166605070b2d99681062fa2aea2c59b9d3c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1695/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.4_0.0_MultiDynamics_arc_13_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1696/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10d33adde3456031a4388bd2aeda0f4c26139a73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1696/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.5_0.0_MultiDynamics_arc_14_0.111_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1697/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4912c4076d2041049d4d85f615e3a41ff957f177
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1697/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.6_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1698/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6bde68b5f5461d072958e250526aa7657e81b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1698/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.7_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1699/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d4c22def1f5c0959124ccbf50bb5f9b5582b4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1699/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.8_0.0_MultiDynamics_arc_17_0.091_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_17/meta.json b/RH5_dataset_threads_5000eps/frames/episode_17/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..875a005aba0f0c20a79df9da15909829fd5c0a73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_17/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.9_0.0_0.0_MultiDynamics_4_0.585_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a4fef3dec7bb7fcf48a9ad8e0bacf16eef1b86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_170/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.506:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.506,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.506_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1700/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0599a7f55844155db9067a0527b77d4194ad1952
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1700/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-1.9_0.0_MultiDynamics_arc_18_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1701/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5a00242550ff0e3141e92c493be473fe5c41b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1701/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_0.6_0.0_MultiDynamics_arc_5_0.310_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1702/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e30e5c3d071e8b376a951264026617f2b46ef8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1702/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_-2.0_0.0_MultiDynamics_arc_19_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1703/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d896770568cf2ec8d8b667f43d66073ec34a808
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1703/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_0.7_0.0_MultiDynamics_arc_6_0.258_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1704/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d3f318a91452e3ff658a1fda8379af8b83504f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1704/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_0.8_0.0_MultiDynamics_arc_8_0.194_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1705/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86066d54c761c7ca7d86b4052117de8eb84a952a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1705/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_0.9_0.0_MultiDynamics_arc_8_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1706/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c99ce699362a6cac77cd68457417c3f1060d89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1706/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.0_0.0_MultiDynamics_arc_9_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1707/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3dbf3ea8d1db4bd39f11fa4475439c1259ff8e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1707/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.1_0.0_MultiDynamics_arc_11_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1708/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d676e7d040c1023a6fc46c6ec41dcd1833139f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1708/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.2_0.0_MultiDynamics_arc_11_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1709/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8790ea8299ac436a4612f725f8399087be494db2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1709/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.3_0.0_MultiDynamics_arc_12_0.129_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa13738411e9e29200e28f167f4b5a0572989367
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_171/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.526:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.526,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.526_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1710/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76d4216a4776e1e23a3b070f0dcda8b0c73fb08f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1710/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.4_0.0_MultiDynamics_arc_13_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1711/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84ad9722d84741e7274cc7d46b8347113087d76
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1711/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.5_0.0_MultiDynamics_arc_14_0.111_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1712/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6a088152ca295d78179d26c70eb677e3f1ff8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1712/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.6_0.0_MultiDynamics_arc_16_0.097_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1713/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6c13553e8664521f1819d9479f68e41573cb78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1713/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.7_0.0_MultiDynamics_arc_16_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1714/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65538eb0f21ec6d49ed69d99b5eb18abd18656f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1714/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.8_0.0_MultiDynamics_arc_17_0.091_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1715/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5c542e1b78db945aebdb02bde3210ee7784523
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1715/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_1.9_0.0_MultiDynamics_arc_18_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1716/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2de298c79c467ed0460caec129432aa2944850a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1716/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-0.6_0.0_MultiDynamics_arc_5_0.330_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1717/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75b78ad6761129b6782341fa756a7253c675d5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1717/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.0_2.0_0.0_MultiDynamics_arc_19_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1718/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c40525aab9b986a1916e85315bd426732138065
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1718/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-0.7_0.0_MultiDynamics_arc_6_0.275_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1719/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8747c4af7787a0288439cb9a85a26a7fb829096e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1719/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-0.8_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c9d53889d199a8ae21f686bbe83302ff2993d27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_172/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.546:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.546,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.546_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1720/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf04a1e35d7fadd6b4b155cbe941ec4554b8dd8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1720/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-0.9_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1721/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5faa51843f9058058d76ec0565f5f8ca84db3f61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1721/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.0_0.0_MultiDynamics_arc_9_0.183_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1722/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a71c02222cba09fa0d294cc60c116cbf6439bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1722/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.1_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1723/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c4e1f2579dad996f8e73edc346468d1e89feb3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1723/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.2_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1724/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9820a7b963708cbdc3859522d32495ed4ffbcd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1724/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.3_0.0_MultiDynamics_arc_12_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1725/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d1774c61b6b73b34438c8caaec4f3e4118513e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1725/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.4_0.0_MultiDynamics_arc_13_0.127_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1726/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f17a210247659d0bb6b437e734b6acc90ed7695
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1726/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.5_0.0_MultiDynamics_arc_14_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1727/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07de90af02c3bf0d0bd1ec3c3119dd2018bfffbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1727/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.6_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1728/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e958ea85dd87edf2e1e228dafb4ef65786420c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1728/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.7_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1729/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5fe89288523927534735b83767b689762e1dc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1729/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.8_0.0_MultiDynamics_arc_17_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b360516168db903d0dabadf6479968b1d78dba08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_173/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.566_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1730/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2545f3c4c1e17e8de8dba15e3810c226f2b6504
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1730/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-1.9_0.0_MultiDynamics_arc_18_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1731/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e12de3299701f3df3fb76b8749c6b11863ed1f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1731/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_0.6_0.0_MultiDynamics_arc_5_0.330_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1732/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb72e961ad030feb48c8d125612c53c87b56d51d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1732/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_-2.0_0.0_MultiDynamics_arc_19_0.087_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1733/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55f9ae932a62822fdc7489f05b0ba0d2a5a6ea1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1733/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_0.7_0.0_MultiDynamics_arc_6_0.275_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1734/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a90ed39ea9c2f0c192a38a68c49b3eb84dafc39d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1734/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_0.8_0.0_MultiDynamics_arc_8_0.206_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1735/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda8c9019d3a2d4f414c5c60ebe658aa695abd45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1735/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_0.9_0.0_MultiDynamics_arc_8_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1736/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deee2d3e348102afafa72f4a14622f8e5603102b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1736/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.0_0.0_MultiDynamics_arc_9_0.183_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1737/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a5f7d27632b65f0eefc17e4a68f29003a9ec8a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1737/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.1_0.0_MultiDynamics_arc_11_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1738/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7389323a426c66773494489fa2a51333245dd869
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1738/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.2_0.0_MultiDynamics_arc_11_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1739/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c39e3a5a74e172eca457d79bd0aaaf42ad445e5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1739/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.3_0.0_MultiDynamics_arc_12_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2b293b9e468b07f263cc6152cc802e5add6ffd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_174/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.586,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.586_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1740/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15ff4956101c664e8d60b4f68d37601b46f7708
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1740/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.4_0.0_MultiDynamics_arc_13_0.127_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1741/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..343186134eabc81da0ad87448394acacc8ad0631
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1741/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.5_0.0_MultiDynamics_arc_14_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1742/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fd52b829184d2d4941eeaaeacd94cba4fd29a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1742/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.6_0.0_MultiDynamics_arc_16_0.103_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1743/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4da2034613f4a6ce5c41430e71dd1fc125e1c053
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1743/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.7_0.0_MultiDynamics_arc_16_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1744/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a4b0d4cb6bd3b122b45218091d115e86606a0a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1744/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.8_0.0_MultiDynamics_arc_17_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1745/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44454b70839e41bfaab9a07afef6f3343d612cc8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1745/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_1.9_0.0_MultiDynamics_arc_18_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1746/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5bbfeac9bea5b73fd30c818b74a178ac0347185
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1746/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-0.6_0.0_MultiDynamics_arc_5_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1747/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06367538ca4bf560c8bd53486477c78dd2424acd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1747/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.1_2.0_0.0_MultiDynamics_arc_19_0.087_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1748/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74993aa18621ea0afafd244c3b5628812b1235a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1748/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-0.7_0.0_MultiDynamics_arc_6_0.292_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1749/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0666eeae4a5458990b74af73418c19fc0565a2ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1749/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-0.8_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e158e233052b68ccc08857bc955dfd51b65157f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_175/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.606,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.606_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1750/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c2d8378808e578a9ca088015590edbe2ce8ecc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1750/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-0.9_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1751/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ab071fc5d579b3e32e2b8624453a0639c6abf8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1751/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.0_0.0_MultiDynamics_arc_9_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1752/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..530453690ef273c80f42c05e8f23d72354b71dfc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1752/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.1_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1753/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23fdf1b704b95a59badf2e96351f9e45b58b12b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1753/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.2_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1754/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96002b77d0af9d658e2272a70b4d5c731ba0da9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1754/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.3_0.0_MultiDynamics_arc_12_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1755/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf2426365ed431f1dd3ed56657027b59874996bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1755/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.4_0.0_MultiDynamics_arc_13_0.135_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1756/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1639196c9968711572cdc8a0783d33e4ec143d86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1756/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.5_0.0_MultiDynamics_arc_14_0.125_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1757/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d2b458c9f06a2b101286183e60b47c117efc69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1757/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.6_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1758/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d2e24c93e92e103567813640948abaa3a5180c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1758/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.7_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1759/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5ac02c26cb0294413e95f99387bd580729e51f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1759/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.8_0.0_MultiDynamics_arc_17_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f764bd3f307efccc1286cedb27a729c763ffd57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_176/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.062,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.626,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.7_0.0_0.0_MultiDynamics_5_0.626_0.062_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1760/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80dd5da0fb80af64b26a1cb725588ad4d10150bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1760/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-1.9_0.0_MultiDynamics_arc_18_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1761/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d785e390c1e1148b6378e9021e1cba509d4d18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1761/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_0.6_0.0_MultiDynamics_arc_5_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1762/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a7e5892be105b12e5f5e51c9f6edafb5a4616d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1762/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_-2.0_0.0_MultiDynamics_arc_19_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1763/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52dad0e387b30ebb998195f09883aca35a585dca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1763/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_0.7_0.0_MultiDynamics_arc_6_0.292_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1764/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b610271093554e84b885dc768f72524fda540d0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1764/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_0.8_0.0_MultiDynamics_arc_8_0.219_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1765/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..214cf3f216b48e13f93f5f03559ef31ab22accc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1765/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_0.9_0.0_MultiDynamics_arc_8_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1766/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fdb52007e1e03351e0f05065ae5017215e76bee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1766/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.0_0.0_MultiDynamics_arc_9_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1767/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba0bbadab216ceff3a2deb6852ad3f95c06c2bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1767/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.1_0.0_MultiDynamics_arc_11_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1768/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c3aac913a5a647419d8b7dda4804221fd0e64
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1768/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.2_0.0_MultiDynamics_arc_11_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1769/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..428230f98fa2a249a6fb82c4c096171c1f85c2e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1769/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.3_0.0_MultiDynamics_arc_12_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cad1dbe02a2c9535c2b766295534048ccc3e87fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_177/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.538,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.538_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1770/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3eeded842bf00f00885ae607026e1d482fc238d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1770/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.4_0.0_MultiDynamics_arc_13_0.135_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1771/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b621c6364604d2245e83b18e6259c65bf2787cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1771/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.5_0.0_MultiDynamics_arc_14_0.125_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1772/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75fe65be5509509d3b411fb4b41d5461f08cf11d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1772/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.6_0.0_MultiDynamics_arc_16_0.109_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1773/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74562a0076f507905d7300ee786f2db7e6a52558
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1773/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.7_0.0_MultiDynamics_arc_16_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1774/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b085f65ce6b990f49d3454dbe9448c79fb7f00d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1774/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.8_0.0_MultiDynamics_arc_17_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1775/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eb2be34c92897884dc7b1f31b7fc2c41af18e79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1775/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_1.9_0.0_MultiDynamics_arc_18_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1776/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..054eb5b344853291fdacbb1581e40dd2e9c98245
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1776/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-0.6_0.0_MultiDynamics_arc_5_0.370_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1777/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..228df9d5931e57b10094b7ed43dd96252ae66bb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1777/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.2_2.0_0.0_MultiDynamics_arc_19_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1778/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cf7dd8e6a0d146cfe43d4c56a3d888c2ca858d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1778/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-0.7_0.0_MultiDynamics_arc_6_0.308_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1779/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4193cdeafb4b3a1d0467ef6ce29797b3edac69d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1779/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-0.8_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..117619a172b85aa88ffc021a09f0f20075904d79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_178/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.555:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.555,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.555_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1780/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f72c2e29e033a1883437086997caf44eed92415
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1780/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-0.9_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1781/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d765c8db04931155acbcdfc564b582617b891bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1781/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.0_0.0_MultiDynamics_arc_9_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1782/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..235c8904d648a2b763e15d73943b45c76dc924dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1782/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.1_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1783/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4261c4cad48b27e579d7614521139946be859976
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1783/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.2_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1784/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6235aaaa72d992e46ed57d73c4ad3feacf323f54
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1784/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.3_0.0_MultiDynamics_arc_12_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1785/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aad55d49e6d470f2ce01d4b2831594cc3d3164c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1785/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.4_0.0_MultiDynamics_arc_13_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1786/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d47e974643c28328ff11a8be6a41d2ce7f7fb35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1786/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.5_0.0_MultiDynamics_arc_14_0.132_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1787/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e903f612648906d2074077aee515bab0d41057
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1787/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.6_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1788/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7559618b3224d431bf4b8ee221467d457b5aca7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1788/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.7_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1789/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ba4d83a6f5f98efd84c1ca6555e493bc3d2521
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1789/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.8_0.0_MultiDynamics_arc_17_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..865ff7bac84effd01a2f69cbc34d3742d78b1620
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_179/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.572,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.572_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1790/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28140f5a263f8be2f557116bb8488c96cae80984
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1790/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-1.9_0.0_MultiDynamics_arc_18_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1791/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c98fa3855ac61bb1a051f144c5d1b63c9bdf70c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1791/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_0.6_0.0_MultiDynamics_arc_5_0.370_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1792/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..753e851f808563042e9cb3f1170d9191e382dfa9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1792/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_-2.0_0.0_MultiDynamics_arc_19_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1793/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c431015ee79c62dcce836e3e5508e904fe7efa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1793/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_0.7_0.0_MultiDynamics_arc_6_0.308_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1794/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dc4c05e9101fb738887c045daa0e6ed85c7078d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1794/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_0.8_0.0_MultiDynamics_arc_8_0.231_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1795/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb652597208e14b2f6112801b6da34d1b221732
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1795/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_0.9_0.0_MultiDynamics_arc_8_0.231_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1796/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f6e546f6b6f5ccde6b2f7272116be0eb079cfd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1796/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.0_0.0_MultiDynamics_arc_9_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1797/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f896e20e0b347c58bcdb29ebdb88cf39a1f331
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1797/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.1_0.0_MultiDynamics_arc_11_0.168_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1798/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca981d964c30b21b330afd08ec32b087279411ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1798/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.2_0.0_MultiDynamics_arc_11_0.168_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1799/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe736d2d591cf2b52ca6698ec92fb05a4a7d2979
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1799/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.3_0.0_MultiDynamics_arc_12_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_18/meta.json b/RH5_dataset_threads_5000eps/frames/episode_18/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab016974fc83c7a9260ba9b4006661be29cd01f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_18/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.0_0.0_0.0_MultiDynamics_4_0.610_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e546b55f2042e0172db834619630fd6f4086230
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_180/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.38,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.380_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1800/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..724427e5ef8127f6327309f8d9caad9f3de9e773
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1800/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.4_0.0_MultiDynamics_arc_13_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1801/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa1d9fad1049ef1bcfef4817cffe73c0961b822
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1801/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.5_0.0_MultiDynamics_arc_14_0.132_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1802/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e497c553112602b6492b81cbba432172a02791ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1802/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.6_0.0_MultiDynamics_arc_16_0.116_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1803/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41ae43732feaf6eab2cc0ebf0dfa18a056c1388
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1803/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.7_0.0_MultiDynamics_arc_16_0.116_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1804/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f99eb84e847936229e869c94b218b21fcb7ffa2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1804/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.8_0.0_MultiDynamics_arc_17_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1805/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d65ea1fe0869d1a9728b4226f5dab2e6cfd501e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1805/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_1.9_0.0_MultiDynamics_arc_18_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1806/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a4f1238744e8820897c0434c4494e30bb6c970
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1806/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-0.6_0.0_MultiDynamics_arc_5_0.390_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1807/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ef2e1d363539cdbc566532107a0c50888ccf6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1807/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.3_2.0_0.0_MultiDynamics_arc_19_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1808/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38e80614442d0ceb0ae18154455302bb178dafd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1808/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-0.7_0.0_MultiDynamics_arc_6_0.325_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1809/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f662307a50b0f3d5ca3fd64d1a9718c32f3b078
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1809/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-0.8_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3ac0109e7f05a53c002877b20a3a70fbc245e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_181/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.1_0.0_0.0_MultiDynamics_1_0.580_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1810/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bfee83b6ab3e7307d8d2046969fdda2b3faba9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1810/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-0.9_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1811/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e05c7413b01392699ed07f006c652faa3fd82f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1811/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.0_0.0_MultiDynamics_arc_9_0.217_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1812/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..073e75464c9c2a160a212fa3895ff544a110abeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1812/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.1_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1813/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34763d5f19f4671a9b3ecdeda709d17264f0c420
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1813/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.2_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1814/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27da571233a1ccca82d6ae58fd3ddc720305118f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1814/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.3_0.0_MultiDynamics_arc_12_0.163_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1815/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c11a8106daf0e3c85b3dc44f25206733f277f715
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1815/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.4_0.0_MultiDynamics_arc_13_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1816/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4717d0b5cbfbe7a9b3af23ca178d736db104bb85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1816/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.5_0.0_MultiDynamics_arc_14_0.139_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1817/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a92f5edaf800e9b809cddcc5bbbc17eb26149c38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1817/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.6_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1818/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5dcfeb63bbea5bf0d635b823dc2927f3b88894
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1818/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.7_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1819/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12a3d4f850dfdae43bec670af76bc847e05afbcc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1819/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.8_0.0_MultiDynamics_arc_17_0.115_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b093db2722a06094e3abb6d1afaedac677950f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_182/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.68,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.680_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1820/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4675d334faf9bb2be1a0afaad7188cb50a3b4f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1820/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-1.9_0.0_MultiDynamics_arc_18_0.108_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1821/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece5dcf1a3c30f62e3fa97913b44259f4e248090
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1821/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_0.6_0.0_MultiDynamics_arc_5_0.390_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1822/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4236bfd5020be0adc63d56e7d32d6f9f8c9bf31
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1822/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_-2.0_0.0_MultiDynamics_arc_19_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1823/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..729248233a053dcf4f84cb603ca5ecc542e85b97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1823/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_0.7_0.0_MultiDynamics_arc_6_0.325_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1824/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9fbd264562af86433d428471e53ce24f08dc84e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1824/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_0.8_0.0_MultiDynamics_arc_8_0.244_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1825/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0220f711dff3218c2f9b73c1f59f29d38ba383f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1825/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_0.9_0.0_MultiDynamics_arc_8_0.244_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1826/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6e506e38a7ceba2d8008b817c4f852b8ce5fad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1826/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.0_0.0_MultiDynamics_arc_9_0.217_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1827/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2d728932a07e09617a45aebe4ce9d79112b2a15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1827/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.1_0.0_MultiDynamics_arc_11_0.177_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1828/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aae24b1ddbef091ad154574951d8b57a5581fd4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1828/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.2_0.0_MultiDynamics_arc_11_0.177_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1829/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b63bdc040fa52d3f359bed72d80045f1a1b320
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1829/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.3_0.0_MultiDynamics_arc_12_0.163_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d217b0be62025d7978cfb51336af67572de1519
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_183/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.062,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.698,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.3_0.0_0.0_MultiDynamics_1_0.698_0.062_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1830/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73cef240c6065695685d044b1b46a4ac2837cc40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1830/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.4_0.0_MultiDynamics_arc_13_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1831/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d987869b63d5a4b4fee0030d59dfbad3f36e70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1831/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.5_0.0_MultiDynamics_arc_14_0.139_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1832/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4331969c07e12a619f1996a3c59052b899185b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1832/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.6_0.0_MultiDynamics_arc_16_0.122_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1833/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..705de34ad610468a96098612efe7e2c53f7c862e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1833/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.7_0.0_MultiDynamics_arc_16_0.122_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1834/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9110b6d084723d0e43a5515c3b95f7af69ae477
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1834/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.8_0.0_MultiDynamics_arc_17_0.115_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1835/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f7e024d42337e0253ab8f36300c1207cf94472
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1835/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_1.9_0.0_MultiDynamics_arc_18_0.108_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1836/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfc9447622163e7627c90fa86aecba811437a06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1836/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-0.6_0.0_MultiDynamics_arc_5_0.410_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1837/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e327ab4021e7bac9486d447a7420e8ef97a0ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1837/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.4_2.0_0.0_MultiDynamics_arc_19_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1838/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f856ec3586c416d863d2201cd6e53c5d680ecff7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1838/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-0.7_0.0_MultiDynamics_arc_6_0.342_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1839/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ab9d92881cacef0fecb195ccecf5b6df07ae684
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1839/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-0.8_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee691075b975cfd6fed759bcea6e0787f5c8ddc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_184/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.399,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.399_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1840/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e29236054b6f15539fe2d593d0ed2872389bb41a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1840/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-0.9_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1841/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec1ebc633989639e52a192f842a54612d7c0c8be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1841/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.0_0.0_MultiDynamics_arc_9_0.228_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1842/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fef607098d8187e148b302b86374f477ab1dd398
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1842/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.1_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1843/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..472c20231f5a3e5815e304f67afd3e14ec1cd16b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1843/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.2_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1844/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e3e535448c23d80dcfda3a25a03905d0380477
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1844/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.3_0.0_MultiDynamics_arc_12_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1845/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a79d0e40223153ace2069fbb12ae55ea3f4336a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1845/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.4_0.0_MultiDynamics_arc_13_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1846/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f0e3d8e6923f643cb5a52f9e5cc7f1b40527f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1846/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.5_0.0_MultiDynamics_arc_14_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1847/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b441e1c57ee89be2239f13960482184ecafd6fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1847/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.6_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1848/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5656cd55a4c6a0b93bf8382efecb949d05b2a0e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1848/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.7_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1849/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..035fb5c0edb48a819526c5901ecfc0fb6129d21d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1849/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.8_0.0_MultiDynamics_arc_17_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01c94e90e16c1198f1421bd454224053e56e73df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_185/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.465,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.465_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1850/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81d9f1bed1e13bfd8454cb1702a5053ff3e5f20a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1850/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-1.9_0.0_MultiDynamics_arc_18_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1851/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..795260ef7ff59141e5fde2b0bd369f4a1909560b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1851/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_0.6_0.0_MultiDynamics_arc_5_0.410_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1852/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdcb52f039d291f9d1489f6c1d9e13d0359e8fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1852/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_-2.0_0.0_MultiDynamics_arc_19_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1853/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c699e1edff6134b73308829ce0241886f80763
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1853/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_0.7_0.0_MultiDynamics_arc_6_0.342_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1854/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af9eb0ee148d492e64c068e58d1e004441262072
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1854/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_0.8_0.0_MultiDynamics_arc_8_0.256_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1855/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f506721cc19ce486374b310ffeec4c31738fc493
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1855/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_0.9_0.0_MultiDynamics_arc_8_0.256_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1856/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0fbe81a43e31ad9321c209c359af442c11dae3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1856/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.0_0.0_MultiDynamics_arc_9_0.228_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1857/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c177816453efc17b4031a22a9e5f79e54b1c9187
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1857/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.1_0.0_MultiDynamics_arc_11_0.186_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1858/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa652331531673d55ff725e14a17eb28a10709f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1858/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.2_0.0_MultiDynamics_arc_11_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1859/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a8dd9e1d6be10591f4c76e8e66a3a4199146b68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1859/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.3_0.0_MultiDynamics_arc_12_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99bc099ee669c032bade11d504ded41030d2d9c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_186/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.515,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.515_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1860/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..066945a17b07fa208a4403889976ded7a75461c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1860/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.4_0.0_MultiDynamics_arc_13_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1861/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8c4c617211969a5af1f8d28deec60961888a44b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1861/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.5_0.0_MultiDynamics_arc_14_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1862/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..112064ef920795f4a70adbda112ff30b914c1af3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1862/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.6_0.0_MultiDynamics_arc_16_0.128_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1863/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4411442239c00e4bedc9476e3f62e3c83cf8614
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1863/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.7_0.0_MultiDynamics_arc_16_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1864/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee3a362b39562a333585707b6566cf2aa4d4f3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1864/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.8_0.0_MultiDynamics_arc_17_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1865/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68357c93560cca4ff8e10c238e1e3bbf386012ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1865/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_1.9_0.0_MultiDynamics_arc_18_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1866/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a35ae8822c39223dfd92dcab0306e78f81e9c60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1866/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-0.6_0.0_MultiDynamics_arc_5_0.430_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1867/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e3dd5fb1f2ba1e4c4b2a3b5c82b72156386835
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1867/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.5_2.0_0.0_MultiDynamics_arc_19_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1868/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fce79e0ad99987c38e98b959983d49518bf787e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1868/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-0.7_0.0_MultiDynamics_arc_6_0.358_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1869/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80facfd9f02ac64bf57c66a61a98c645fda15596
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1869/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-0.8_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54275b75a5ec0469a4668b6511f9116f58d460f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_187/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.565,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.565_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1870/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f8e440658d0fa40f6e3169aac3aabbfa28f951
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1870/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-0.9_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1871/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78cf7ddf0ea132bf7e6cd515319401802880a98f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1871/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.0_0.0_MultiDynamics_arc_9_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1872/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..820da514795b17c4c7f7dbcbf343385bd6bd6de2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1872/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.1_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1873/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc45baf4054da13c361779ff499a1974a1a6c951
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1873/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.2_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1874/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b84b04f23346b1226b936da23304809fbe86d2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1874/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.3_0.0_MultiDynamics_arc_12_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1875/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa86ee50b4f2123ec666771c402167c299440e84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1875/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.4_0.0_MultiDynamics_arc_13_0.165_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1876/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9781065306b5d1577cce438b505a132cd20101bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1876/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.5_0.0_MultiDynamics_arc_14_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1877/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2536b8c352a6300afaac5f8de325a95ed4040dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1877/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.6_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1878/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bcd32aa5f8f2f9168a540eb3270c269d056fa1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1878/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.7_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1879/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2daa5671a2f72ac3007359fa89dc6a0d872cb0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1879/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.8_0.0_MultiDynamics_arc_17_0.126_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3388f609dfc8d1ff3096483c9575c86e85319c93
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_188/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.615,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.615_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1880/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..746c2f25174e7875c9d963b07c43e14dd77973dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1880/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-1.9_0.0_MultiDynamics_arc_18_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1881/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e5330facf9254b4551ac5ede9ce6b174e554c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1881/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_0.6_0.0_MultiDynamics_arc_5_0.430_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1882/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d39b6607ceda3b1eb759e20753a2b451340d2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1882/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_-2.0_0.0_MultiDynamics_arc_19_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1883/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f533023ab4187e0db96844b3486f5a595e2c69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1883/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_0.7_0.0_MultiDynamics_arc_6_0.358_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1884/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce81563926bd84fc6e315143a7901c99998a7f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1884/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_0.8_0.0_MultiDynamics_arc_8_0.269_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1885/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10945c9f7fd47b2288afae24f4e818dbb1c1ea4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1885/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_0.9_0.0_MultiDynamics_arc_8_0.269_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1886/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f82f7a92859557824bcbbf9c76eaf16f6f97303
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1886/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.0_0.0_MultiDynamics_arc_9_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1887/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5622fe2fbfe5c17dd28dea48cf1296b86096b5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1887/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.1_0.0_MultiDynamics_arc_11_0.195_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1888/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fccd2930e4762abae63370408f55b270f653e746
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1888/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.2_0.0_MultiDynamics_arc_11_0.195_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1889/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58380853365c10d1745ac227eddb1c266168f00e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1889/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.3_0.0_MultiDynamics_arc_12_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc975111d5483d37d3ae1c2d352436c0f4e8a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_189/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.433:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.433,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 1.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_1.9_0.0_0.0_MultiDynamics_3_0.433_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1890/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9490f9da9de9f2b590e4a68cbf2d48f6555a142
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1890/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.4_0.0_MultiDynamics_arc_13_0.165_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1891/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30474c5ebd9eaa5295a0795f32629d96541463e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1891/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.5_0.0_MultiDynamics_arc_14_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1892/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cc6966847ee2fe4f54d3d53aa9319ecb302f33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1892/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.6_0.0_MultiDynamics_arc_16_0.134_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1893/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09f4a415758e04a06f1057b84f5319e805fb533
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1893/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.7_0.0_MultiDynamics_arc_16_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1894/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1de4eb3e271df7f7efdb0d0bb512b1b5172d1b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1894/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.8_0.0_MultiDynamics_arc_17_0.126_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1895/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa16ce6184b0ab472373fc456369e5d2d4400397
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1895/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_1.9_0.0_MultiDynamics_arc_18_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1896/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f520a7a38a25d5bdb3ed3b9082aed7ba05eea9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1896/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-0.6_0.0_MultiDynamics_arc_5_0.450_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1897/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..280e5d97397fa416108b5e4000c78ae3a4b7ed95
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1897/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.6_2.0_0.0_MultiDynamics_arc_19_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1898/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ef204cc2c3dd8e19998ddfb0fab065b4d60237
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1898/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-0.7_0.0_MultiDynamics_arc_6_0.375_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1899/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..959ced3a528b2aa30ef51f67030cb9ac6aa694c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1899/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-0.8_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_19/meta.json b/RH5_dataset_threads_5000eps/frames/episode_19/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1ec868b536ed31392e261897c2fc6fdd3081a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_19/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.062,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.5_0.0_0.0_MultiDynamics_4_0.490_0.062_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4b88e472160e5ba42312a8517e94811d03ce97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_190/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.466,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.466_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1900/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7321cd9217d5611eb4cc9d2f62eb11e0051c95b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1900/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-0.9_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1901/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86fc844926cf57cb74caf8c8794a1d5bf10cd148
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1901/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.0_0.0_MultiDynamics_arc_9_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1902/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2852749a731a228076b0d1079ef52635ff268ed5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1902/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.1_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1903/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4ccfc3829d70af919f518d3966f5f8c8184fdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1903/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.2_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1904/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..676e83bbe3e0530081b28ebc0b7351193754d045
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1904/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.3_0.0_MultiDynamics_arc_12_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1905/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc509ea5e66aed5ba47e77e6374dc2cea2d57ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1905/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.4_0.0_MultiDynamics_arc_13_0.173_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1906/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6f624613581a6b2cdd35c9c9359b82f272a3eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1906/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.5_0.0_MultiDynamics_arc_14_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1907/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c708a679d930ea7bbc1f03772f9b8175d438b47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1907/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.6_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1908/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00f667d9e25a676f7c9e57a72b6048029da66a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1908/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.7_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1909/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae022d549015a522b5cb3186c127d56c421dea3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1909/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.8_0.0_MultiDynamics_arc_17_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0c34baf8c1b7d61e4db931b828f9bb977c252a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_191/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.499,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.499_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1910/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9fe65933add2acd20b9ddd18580717cd6f7c42e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1910/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-1.9_0.0_MultiDynamics_arc_18_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1911/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef6948ccbbfb3b8a369a19e28532081bf47dc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1911/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_0.6_0.0_MultiDynamics_arc_5_0.450_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1912/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d03c577581747650dd526733769416555a807a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1912/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_-2.0_0.0_MultiDynamics_arc_19_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1913/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..612a8dc3d0fbe031715762e3f5a642526d4306cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1913/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_0.7_0.0_MultiDynamics_arc_6_0.375_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1914/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0066e429f2aa8a848b3209ea8992477ba57a4d46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1914/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_0.8_0.0_MultiDynamics_arc_8_0.281_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1915/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faefd4972fe60844d3cb92e611a1ba6b6b566b36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1915/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_0.9_0.0_MultiDynamics_arc_8_0.281_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1916/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f978cc50c88fcab1a92e1558948f93ee297c7bed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1916/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.0_0.0_MultiDynamics_arc_9_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1917/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec72275fe5f7e42d12f1414ee7f5fb8c7f0d4130
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1917/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.1_0.0_MultiDynamics_arc_11_0.205_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1918/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..336313528754edd3c5773111b4f24b76723239a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1918/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.2_0.0_MultiDynamics_arc_11_0.205_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1919/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d325a941f21904e8118be88d6ddbb8f9b501e16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1919/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.3_0.0_MultiDynamics_arc_12_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2895f79cb2045785f9c9d07705d63b082531c52b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_192/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.533:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.533,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.2_0.0_0.0_MultiDynamics_3_0.533_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1920/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5e8191539e1e986ef5d308ab993a2a81c98df2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1920/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.4_0.0_MultiDynamics_arc_13_0.173_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1921/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..604099bc344b659b899a48391d7f277414e27a48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1921/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.5_0.0_MultiDynamics_arc_14_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1922/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2029cf435099621e380cbb638e9cf83a4da798
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1922/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.6_0.0_MultiDynamics_arc_16_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1923/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deb0dd2ca90aaa1becec5c7d006c04d908358879
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1923/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.7_0.0_MultiDynamics_arc_16_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1924/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9619180098226741968794c41675c9f7d9d5bfbf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1924/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.8_0.0_MultiDynamics_arc_17_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1925/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd85429839835e60236560fcf029df73bf4f07ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1925/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_1.9_0.0_MultiDynamics_arc_18_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1926/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09538e8fb49a2c229fc0890ae1ce343ef62fe92c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1926/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-0.6_0.0_MultiDynamics_arc_5_0.470_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1927/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88fe6d751efbcd4d3ba763025ed1b7c92321876a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1927/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.7_2.0_0.0_MultiDynamics_arc_19_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1928/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..716df2d5aee41cb17caf88b97b269a61205723ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1928/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-0.7_0.0_MultiDynamics_arc_6_0.392_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1929/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ac0135fa1765ac37adfb3013281401277bd109
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1929/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-0.8_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff980ed2db2fe0f0705ac355874173d77c56bf2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_193/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.062,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.566_0.062_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1930/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa1e20f91e63d7a70598b0e270deb5a0057eafd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1930/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-0.9_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1931/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1321753c4c39889615cda41b3283b5d8674a9ac8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1931/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.0_0.0_MultiDynamics_arc_9_0.261_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1932/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc780a8b3b4633aaa33a9c32a70fb8696a4c7bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1932/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.1_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1933/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d79dfd2be144cd197fcdf7eb55ea7e299e89a33a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1933/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.2_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1934/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..420cfb0a6e3f696fd3a1a8e25983eaf9a3ef1221
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1934/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.3_0.0_MultiDynamics_arc_12_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1935/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee7dd9c78b5f675ac5f17e4c41bdb5fc8a65a70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1935/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.4_0.0_MultiDynamics_arc_13_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1936/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e15b07fbe7599fb7cf6374d9c4137abae9446d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1936/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.5_0.0_MultiDynamics_arc_14_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1937/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83857cfaf653bb05a680c68359c37a69fa6b0c9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1937/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.6_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1938/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4631520470fb46db856a51b576151f07511abce5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1938/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.7_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1939/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd7cb76116013b884e4070591838a8330798c96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1939/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.8_0.0_MultiDynamics_arc_17_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e961edbbd361373c48a1383a37b9a79924c3b43d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_194/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.062,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.61,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.610_0.062_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1940/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d61b444da9e1a3cd91ef4a21576146c99d2eb892
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1940/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-1.9_0.0_MultiDynamics_arc_18_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1941/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30f49c1b0b9191575938522ed9ca90b11f61cac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1941/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_0.6_0.0_MultiDynamics_arc_5_0.470_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1942/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dfec7800a77b92a4c27cbe01e8b1f2f00d6f120
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1942/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_-2.0_0.0_MultiDynamics_arc_19_0.124_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1943/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a78fd2fc75bce8b94d2734438bc8c138ca7e32a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1943/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_0.7_0.0_MultiDynamics_arc_6_0.392_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1944/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3946dbd0cd4491f463690d4378f6632853e737
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1944/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_0.8_0.0_MultiDynamics_arc_8_0.294_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1945/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..925bcbc28d9d81c45887423e3f82f8561216f506
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1945/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_0.9_0.0_MultiDynamics_arc_8_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1946/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17945721faf051f87903a7113b1c8d44a37545af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1946/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.0_0.0_MultiDynamics_arc_9_0.261_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1947/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f91aef3b631a72eb4da7ac3521d04354c33e735b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1947/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.1_0.0_MultiDynamics_arc_11_0.214_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1948/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f6f5ed48793071a0a68d496a84b429236a981f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1948/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.2_0.0_MultiDynamics_arc_11_0.214_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1949/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaba018e91e3f618965e1d333b635d9fc8d17ba0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1949/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.3_0.0_MultiDynamics_arc_12_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a178331ca72bda783f698a82fc6ad61cd59c001
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_195/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.482,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.482_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1950/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85916bfda3885af95620919492dcc08635bdc348
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1950/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.4_0.0_MultiDynamics_arc_13_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1951/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaef7fd1fa22b035435477317f97f6770de4d1f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1951/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.5_0.0_MultiDynamics_arc_14_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1952/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..997b7f44a774b3f4cfc8d5286b80e4e18c429e69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1952/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.6_0.0_MultiDynamics_arc_16_0.147_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1953/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86506a5d247324b89789e9df5089a3d777c4977e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1953/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.7_0.0_MultiDynamics_arc_16_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1954/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffcb66eca67ed9a672a2d5505f0dc3e46872de92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1954/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.8_0.0_MultiDynamics_arc_17_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1955/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1063909adba0a73b05998b72f1d347889385fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1955/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_1.9_0.0_MultiDynamics_arc_18_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1956/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab1609fa52e3fa91e894fb683ebc7f2589185d6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1956/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-0.6_0.0_MultiDynamics_arc_5_0.490_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1957/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f797f8a9f077b07662d05d5631d5bf3106da49
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1957/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.8_2.0_0.0_MultiDynamics_arc_19_0.124_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1958/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7412d4fb83c53195a214ab33c011f63bd7da89d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1958/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-0.7_0.0_MultiDynamics_arc_6_0.408_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1959/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a59f7215462dfb77379f4c1cceabcd8da9430cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1959/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-0.8_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdbb6b15b1f84263455ef8428582e52948830100
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_196/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.508,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1960/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c5cc452a5891ac09d2ff7047fb8413fd40f36f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1960/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-0.9_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1961/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c150a74600195ba3c77cd98817778417829f094a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1961/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.0_0.0_MultiDynamics_arc_9_0.272_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1962/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ef7180a172a75019ebc6a6b214b6a81252c27c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1962/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.1_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1963/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d7a61863b5c046073001dd133a19931cd65241
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1963/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.2_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1964/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb577bba2ff28f86b89f35c974dc8c274c506622
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1964/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.3_0.0_MultiDynamics_arc_12_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1965/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e116331b865af31d5d74585dc43aaa5138946f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1965/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.4_0.0_MultiDynamics_arc_13_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1966/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a04ec2f820eb48e348686f6aecda8cf43b2f6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1966/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.5_0.0_MultiDynamics_arc_14_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1967/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40098de703d467d18bdb75948db3a2f158e72767
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1967/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.6_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1968/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7457f0579344591f8af9c6f7b70ffe8329aa7c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1968/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.7_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1969/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b93f539dce2c5fa36d4d28d61acf16cc14d2c73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1969/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.8_0.0_MultiDynamics_arc_17_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e637546333e1e33d69d9a1b40d4d5855df97919d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_197/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.532,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.532_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1970/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa80b50fd7b45a572ce8414b5a547c63367767b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1970/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-1.9_0.0_MultiDynamics_arc_18_0.136_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1971/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9228c48b9cb7a3db72b98227a25d48a3e7cde050
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1971/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (2.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_0.6_0.0_MultiDynamics_arc_5_0.490_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1972/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbf5dcacb9db7882f324b634337f09641ec2650
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1972/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_-2.0_0.0_MultiDynamics_arc_19_0.129_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1973/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7619d71f0d4b92b421fdf426f6d9ae8db6bfd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1973/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (2.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_0.7_0.0_MultiDynamics_arc_6_0.408_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1974/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..745b19ff98eb49b8c62906762b2f823ca4fd902b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1974/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_0.8_0.0_MultiDynamics_arc_8_0.306_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1975/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47ba305a115b9866e32296f100b30f010e799fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1975/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (2.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_0.9_0.0_MultiDynamics_arc_8_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1976/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8726b7ed7f45fb8671c84fa2ad37212caddb5a48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1976/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (2.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.0_0.0_MultiDynamics_arc_9_0.272_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1977/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd14ea21b722f362f8bb07fb0202901d13c097
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1977/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.1_0.0_MultiDynamics_arc_11_0.223_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1978/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a43cb9981534b48d0aa62564d3f5569db8a5ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1978/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (2.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.2_0.0_MultiDynamics_arc_11_0.223_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1979/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ce6e079f0b7a75d5f3faf2654879f54b4712b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1979/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (2.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.3_0.0_MultiDynamics_arc_12_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0da53a5074c51fe685e953dbb5dcbf7527c8d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_198/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.557,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.557_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1980/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4c2f52b298400a6ba652713309badc426a64df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1980/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (2.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.4_0.0_MultiDynamics_arc_13_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1981/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b1fa097aaf1ab6fe7138b3eaa1aab049a22909
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1981/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (2.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.5_0.0_MultiDynamics_arc_14_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1982/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9dee9598b6a4da8b199ba16d9986b0f6b9ac87d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1982/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.6_0.0_MultiDynamics_arc_16_0.153_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1983/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8b9f4a5184ba2d3ab5910227926cee126b7d6dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1983/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (2.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.7_0.0_MultiDynamics_arc_16_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1984/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..615c3d735e8e369a01a141d8bbd1875dc5e85f99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1984/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (2.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.8_0.0_MultiDynamics_arc_17_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1985/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24aadaacd99bcafdf4217ab6100fb783b10db4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1985/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (2.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_1.9_0.0_MultiDynamics_arc_18_0.136_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1986/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b866eec7d9d1fe282967852ee738d3afb8917b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1986/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1987/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b595827e0af7bf20e440866b1dd3010aece070da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1987/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (2.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_2.9_2.0_0.0_MultiDynamics_arc_19_0.129_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1988/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9063f96df2f3074297f3e1856476eb2714a3fde6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1988/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-0.7_0.0_MultiDynamics_arc_6_0.425_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1989/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6bfa383b9f2d3b8329b43dd689a0d751f974f98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1989/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-0.8_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..989db5a049ef3b4c8dedd30011d6add7d840a945
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_199/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.062,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.583_0.062_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1990/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ec2a5c7c84c594b13eb0ee347b093464934b70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1990/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-0.9_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1991/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d476d7f80c7e69773a869d55748d21215b243da6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1991/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.0_0.0_MultiDynamics_arc_9_0.283_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1992/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88e223543639ca34cba7733fd056c4b31d813666
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1992/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.1_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1993/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6ad4dd13d45bb6746beb3ed314c95b07a33cc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1993/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.2_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1994/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d3698d7092e7253fb2b0416aada457d2cefb32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1994/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.3_0.0_MultiDynamics_arc_12_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1995/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0164ca48dbf6f4ef466561544da70fa335a0ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1995/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.4_0.0_MultiDynamics_arc_13_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1996/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0cdd0247d640c07eb306033b7a66a04443345fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1996/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.5_0.0_MultiDynamics_arc_14_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1997/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89260fefa16d0545649970b4ea25aba99152bebe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1997/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.6_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1998/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..625e6cbfa5b2ff604d02d96fbfc1e330a5d414db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1998/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.7_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_1999/meta.json b/RH5_dataset_threads_5000eps/frames/episode_1999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba277213e220752f4454d259f53eb9bcdb486cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_1999/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.8_0.0_MultiDynamics_arc_17_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89fde8309eab729769f4d586d9021a9f97d81c4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.1_0.0_0.0_MultiDynamics_1_0.570_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_20/meta.json b/RH5_dataset_threads_5000eps/frames/episode_20/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ecabe8cf1e7776cfe83148242fa9e8da00692d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_20/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.540:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.7_0.0_0.0_MultiDynamics_4_0.540_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e80f0f807c86938f41f378856456942cbad28a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_200/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.607,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.607_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2000/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6eb131ff32dac650235f93c03b3cf2c4ec972e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2000/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-1.9_0.0_MultiDynamics_arc_18_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2001/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d412b06add824a803b91a5487690c17bab8d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2001/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2002/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f6e109ae15e8a12994837f3bce3d1f5c395656
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2002/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_-2.0_0.0_MultiDynamics_arc_19_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2003/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a989eea19ca7a90b1aadb7513df4bca1b23317
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2003/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_0.7_0.0_MultiDynamics_arc_6_0.425_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2004/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d6f13c6996ba2655dffda48cada03ad76f5f27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2004/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_0.8_0.0_MultiDynamics_arc_8_0.319_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2005/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef40b32f009b650924929d35555bc2f0a68c83a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2005/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_0.9_0.0_MultiDynamics_arc_8_0.319_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2006/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90cc64472ce999917fada4dbdeb27e50234df35d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2006/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.0_0.0_MultiDynamics_arc_9_0.283_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2007/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d018d73eb323e061df2b1e4ec01599e9efb0332
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2007/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.1_0.0_MultiDynamics_arc_11_0.232_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2008/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c69cef547bbf2cf2690ed8b64c7f2cc73cfad00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2008/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.2_0.0_MultiDynamics_arc_11_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2009/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..671ec8b959472ee77f8b97de481439d24a7b59d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2009/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.3_0.0_MultiDynamics_arc_12_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa6224ead9a0960da64ee9e51f399cc14826a8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_201/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.506:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.506,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.1_0.0_0.0_MultiDynamics_5_0.506_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2010/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f6d3206e44c514754ce8b322668dd11437e0d09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2010/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.4_0.0_MultiDynamics_arc_13_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2011/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21fefa793881bf8e78eb98bb88804fb992868d68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2011/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.5_0.0_MultiDynamics_arc_14_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2012/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ce9a22857d554418dad0d7489cad09c2707490
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2012/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.6_0.0_MultiDynamics_arc_16_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2013/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fb13535788e80b932b213990fe0df9156d6213
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2013/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.7_0.0_MultiDynamics_arc_16_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2014/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c1b4744cba93be54f1e823533717d0b2389e46c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2014/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.8_0.0_MultiDynamics_arc_17_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2015/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2883d1431605d8f5f4b01dc27695a973df5eff7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2015/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_1.9_0.0_MultiDynamics_arc_18_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2016/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c35301c60636bb9fdf8d41053b88b0d22229d732
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2016/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2017/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ce5f3d974fa83991f3730f3ab89237595775ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2017/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.0_2.0_0.0_MultiDynamics_arc_19_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2018/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..837276322e701a94df3b4c6f459fa41f95a8ebeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2018/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-0.7_0.0_MultiDynamics_arc_6_0.442_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2019/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d21ceec304db0795804c3f04b95783ccd2e646a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2019/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-0.8_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c68f87dce4923eb1e229fd24f295975cbfdf6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_202/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.526:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.526,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.526_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2020/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b623a590ce6f43d063e03400c5283c89184c82f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2020/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-0.9_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2021/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96882804906083ae4e77a01735b01b369d21a6e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2021/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.0_0.0_MultiDynamics_arc_9_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2022/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2006d6ba0f696b5d85ec12a7e854e1f58d5008a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2022/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.1_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2023/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfbe6d343c15aa9ef77fad9b15fb89107723b2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2023/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.2_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2024/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fed0b972518c40c6f8d81f67226f0f0cbb52690
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2024/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.3_0.0_MultiDynamics_arc_12_0.221_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2025/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d6f92ae64dc9fe93afb88ba77be2b4e6cdbeba6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2025/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.4_0.0_MultiDynamics_arc_13_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2026/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15fee47508270d9d70dd8efeb5d58707c34b0e65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2026/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.5_0.0_MultiDynamics_arc_14_0.189_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2027/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..504328fdaac257c4f2f9c3229da71cf1b3011ace
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2027/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.6_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2028/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20689fa5161e9b29911089a57109a1d0ab046f25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2028/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.7_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2029/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19688b70077d18788fc593598f4d1481e72303c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2029/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.8_0.0_MultiDynamics_arc_17_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..573158e5ed522a6b8bdaae8b687efd7bad636f7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_203/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.546:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.546,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.546_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2030/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c5fc45ce37300f4dd233491030738e97f222ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2030/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-1.9_0.0_MultiDynamics_arc_18_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2031/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65b9cdcc9fe0d9f33b494ded5b4c495b4defdb4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2031/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2032/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8a88d30c8d5575003c48626878de86e3c396d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2032/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_-2.0_0.0_MultiDynamics_arc_19_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2033/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47bfc542dbf771eaf928f2d0d15c38329d13192
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2033/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_0.7_0.0_MultiDynamics_arc_6_0.442_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2034/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3636602127827d0e709fb50a03f20c75dafcd8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2034/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_0.8_0.0_MultiDynamics_arc_8_0.331_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2035/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b04e1b2fbd5dac4f2a914a2d2762d9c2e61ca7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2035/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_0.9_0.0_MultiDynamics_arc_8_0.331_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2036/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cb94402c6f2c037ff4033d9c42d0235e629bb7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2036/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.0_0.0_MultiDynamics_arc_9_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2037/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab091fc4cf9cabd09137637e5b5d13848c135a23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2037/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.1_0.0_MultiDynamics_arc_11_0.241_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2038/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a32d547780c9a5c289bcb71a9270bdf75e7077b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2038/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.2_0.0_MultiDynamics_arc_11_0.241_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2039/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..814349a6415ba94f91417f0c7eb98a822aa89de4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2039/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.3_0.0_MultiDynamics_arc_12_0.221_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5e0d1faa92aaa71396a0a38459fd6e92303ddd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_204/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.566_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2040/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d58c4bde7311d6632dd7bd20af4485c32c4ebe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2040/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.4_0.0_MultiDynamics_arc_13_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2041/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a85d6b5af6cf3fdde65934af9d727bac477688
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2041/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.5_0.0_MultiDynamics_arc_14_0.189_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2042/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3ba25ff1b97f15dcf230f67e4424eb419a97ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2042/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.6_0.0_MultiDynamics_arc_16_0.166_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2043/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7fac94f364b187612131ec5b67c9d78d35cc87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2043/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.7_0.0_MultiDynamics_arc_16_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2044/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c5249eb1d3afb66cc84111fa98b1062fdcec47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2044/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.8_0.0_MultiDynamics_arc_17_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2045/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75848fdd80167a09baac09ae1149f00d9a559260
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2045/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_1.9_0.0_MultiDynamics_arc_18_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2046/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0ca13b6e8eb5a4c02ae30bc46df2dead2c6042
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2046/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2047/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4119f9a952c98a11ae4bc4dc1380ec30697ada7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2047/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.1_2.0_0.0_MultiDynamics_arc_19_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2048/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b484e11d59bacb44459e0ffa935c30975f74f22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2048/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-0.7_0.0_MultiDynamics_arc_6_0.458_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2049/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ee9e5173eadf7a76ba06f30e5afcabb1e39805
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2049/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-0.8_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f9bdfae5110e732a3ea87bf27bd4398bd9bfbdd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_205/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.586,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.586_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2050/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..591936d569e7b0bd1dccdb137f02a7e32274a5c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2050/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-0.9_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2051/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..047515c9a09296f207b55b6b6e6a1aafb9ef7685
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2051/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.0_0.0_MultiDynamics_arc_9_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2052/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92da74328fbd655c1df578cab5d508e8349cc3dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2052/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.1_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2053/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff04f3cd420fb4a11245b90fded7934d92608827
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2053/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.2_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2054/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4802d050e7daef2a96826adad33102d30b2ba057
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2054/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.3_0.0_MultiDynamics_arc_12_0.229_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2055/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efcf7ac98aca0363c1aadf9d430b7c1669443e99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2055/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.4_0.0_MultiDynamics_arc_13_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2056/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab9ced63c476554acadaf6fd04ad845eb87283f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2056/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.5_0.0_MultiDynamics_arc_14_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2057/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7babbd1e7cf4e9c991386976a50a4d194eadddc7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2057/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.6_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2058/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..289ccfcd6051368bc833e06e44a482b8cc2b4a2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2058/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.7_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2059/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0525354205bd120217babf876847e91859d710f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2059/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.8_0.0_MultiDynamics_arc_17_0.162_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f428f79031ee023fbcac5c16c5fe1de17d059f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_206/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.606,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.606_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2060/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..964d61abfef30c7023720ceb1f3966e5e7fa2b73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2060/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-1.9_0.0_MultiDynamics_arc_18_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2061/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc80804b535e7d22890cc2b1b35490d4342912f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2061/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2062/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32dc1beda983b8eb08c57678cab30390e0d1df2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2062/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_-2.0_0.0_MultiDynamics_arc_19_0.145_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2063/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6749d1aa8deeab4dfad3c4d9bed155b6566931f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2063/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_0.7_0.0_MultiDynamics_arc_6_0.458_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2064/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f15e86ab792f76662ad05b97e3f577f6d5b663
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2064/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_0.8_0.0_MultiDynamics_arc_8_0.344_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2065/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc0db4603b475b93883b50c4779500c9654b2be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2065/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_0.9_0.0_MultiDynamics_arc_8_0.344_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2066/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b62241f9f323c132030d86640b569e8ff081dc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2066/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.0_0.0_MultiDynamics_arc_9_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2067/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3225f7cfee18cd8aee774be241646af5d90fe05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2067/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.1_0.0_MultiDynamics_arc_11_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2068/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4ab62bdecd5c6ca2f6e322532a4f30ad402fed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2068/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.2_0.0_MultiDynamics_arc_11_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2069/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ac770fe4d5b518616e4aab60a933b354416c22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2069/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.3_0.0_MultiDynamics_arc_12_0.229_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e0520d0db54d958e5f8270c700f4fca719c556
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_207/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.062,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.626,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.7_0.0_0.0_MultiDynamics_5_0.626_0.062_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2070/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..693eec1297aa292da17875c8daae4e08528d7469
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2070/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.4_0.0_MultiDynamics_arc_13_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2071/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ce955566ea5d20d06f8683c17d4ea40b2f4337
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2071/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.5_0.0_MultiDynamics_arc_14_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2072/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d44aae94e3066ea065b50414db91ebd2fe1da4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2072/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.6_0.0_MultiDynamics_arc_16_0.172_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2073/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6cdad54c703d93e8cb01d00f00624bc3c76ad5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2073/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.7_0.0_MultiDynamics_arc_16_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2074/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..211f05f5264d0069884db2af16bc215e44f19bca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2074/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.8_0.0_MultiDynamics_arc_17_0.162_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2075/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4508d7f1d74f12fe94731bced2f1f82ef3c850
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2075/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_1.9_0.0_MultiDynamics_arc_18_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2076/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..babd4409e6771f69ce174899b473ff5132f2d6b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2076/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2077/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d52e5bff289183ab804aca2d5c6fcd2ad087bea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2077/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.2_2.0_0.0_MultiDynamics_arc_19_0.145_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2078/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1899a78a597afbdca2a894aa00a668b10ad70e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2078/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-0.7_0.0_MultiDynamics_arc_6_0.475_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2079/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb87524b0db2cd75e9bdd96af327c1b80fc2d213
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2079/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-0.8_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd684bdc8b009132148b1b4c55f53c96dd6cb19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_208/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.538,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.538_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2080/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa35cfafd66738e5b9c7cd3d947fda8da607ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2080/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-0.9_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2081/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b65e5784919deece9e3e789b5d6f2f8a87f86c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2081/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.0_0.0_MultiDynamics_arc_9_0.317_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2082/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..695cbcf775d770c1ca106af4bc0d7734080aa9fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2082/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.1_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2083/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d61e55455db9a9bf031809715724ce53b0e8b37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2083/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.2_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2084/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e08785bd6bd8a62d07d086867b4ce9ce1833ebb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2084/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.3_0.0_MultiDynamics_arc_12_0.237_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2085/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3c507031ca13b4db92b065a0f81c7ad0401537
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2085/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.4_0.0_MultiDynamics_arc_13_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2086/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43965d7a3937efe950a5cc41fdce606609f5ba23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2086/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.5_0.0_MultiDynamics_arc_14_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2087/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6799dda037de6a8f385ac0ee76c7355b6e35b35f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2087/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.6_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2088/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9771665e8edaeea09f55f50a2dfe12f292d18982
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2088/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.7_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2089/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..054ae84c1c0645f7c0cba48723b69688002d89cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2089/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.8_0.0_MultiDynamics_arc_17_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d97c62797ee69cfe25e97a72d738b83e95df5d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_209/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.555:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.555,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.555_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2090/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c855036b209b4cf1080560b72382c4729a8d682
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2090/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-1.9_0.0_MultiDynamics_arc_18_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2091/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d01f57d5bfd09b594bc6e8b0d12a10693c6ad2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2091/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2092/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d4ef128044dedb269f99db1cac64a554512d6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2092/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_-2.0_0.0_MultiDynamics_arc_19_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2093/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab03f42d8c3c85d9b775dc9e12bd7c8cf22c5d5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2093/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_0.7_0.0_MultiDynamics_arc_6_0.475_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2094/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f78060aec0e1781b121bbcb205132a5970fdc0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2094/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_0.8_0.0_MultiDynamics_arc_8_0.356_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2095/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..656ede25200e75ccb48717b60bd09e1609f05ec0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2095/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_0.9_0.0_MultiDynamics_arc_8_0.356_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2096/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..468478bb9779758242a9c6ff08683e461f8d4f66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2096/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.0_0.0_MultiDynamics_arc_9_0.317_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2097/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3faebc3a52752dab9bee62415d5a38d27992214
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2097/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.1_0.0_MultiDynamics_arc_11_0.259_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2098/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dbc1ac9f918cb7df8d2eeb1496ed3d3aeacb72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2098/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.2_0.0_MultiDynamics_arc_11_0.259_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2099/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a4461e17098773f419b8731fe438ad349826ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2099/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.3_0.0_MultiDynamics_arc_12_0.237_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_21/meta.json b/RH5_dataset_threads_5000eps/frames/episode_21/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8bfcd217e7351c4a438f5ace956d8c7f949d3ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_21/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b1669f46cd1a5a30bdbcd324c4fb1e0895b25fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_210/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.572,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.572_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2100/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e21206a87b04f400a5c4763d6fef9b6941c5a01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2100/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.4_0.0_MultiDynamics_arc_13_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8503fc7e7fa41ed6ecc1ff478f19936674cd9152
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2101/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.5_0.0_MultiDynamics_arc_14_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b42e14bb874ee4b205fbde1737a5987765557d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2102/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.6_0.0_MultiDynamics_arc_16_0.178_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..831806bc64f92b9a546ef52339e46668b44528c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2103/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.7_0.0_MultiDynamics_arc_16_0.178_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0515ae0ab9d46c1d3be506d48956f014e4ee5b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2104/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.8_0.0_MultiDynamics_arc_17_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c987ca944218083f3815283fcaf68c785d921c41
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2105/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_1.9_0.0_MultiDynamics_arc_18_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd872e9564d36956b21eec6d719718c5dc14a8cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2106/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a3ddeb06ebb0aee5177c10cf200a1017072c4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2107/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.3_2.0_0.0_MultiDynamics_arc_19_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddd790eeeb59153b64e0f5bc09e2b28de99c99bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2108/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-0.7_0.0_MultiDynamics_arc_6_0.492_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4665deec3dca7ca01e641b4e1f12b21ed75ab20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2109/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-0.8_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25bf7a8de5a680f33d32e7efa414ab6f7c91920
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_211/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.38,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.380_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c56e1f2cffadcff427665a1c6fffe45d1a4ced
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2110/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-0.9_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f3df8b527fcbc5638a7114c127ab69b637246c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2111/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.0_0.0_MultiDynamics_arc_9_0.328_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ff1b74a80ef1cc0626baaaf17bf43950001fae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2112/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.1_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be3323e596186dc9d05c6371aad7bfdb27ba95e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2113/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.2_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbd79ecf6190ff0e44561653ed12bf3847c72f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2114/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.3_0.0_MultiDynamics_arc_12_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..846e313b43cf6478c039a06b423b2ec6367dbff9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2115/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.4_0.0_MultiDynamics_arc_13_0.227_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..367359fc96c0b3ee712e7c37b33f77d5242241b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2116/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.5_0.0_MultiDynamics_arc_14_0.211_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..403d2ea8c10c1715a94e5e7861a4f381194c4b5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2117/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.6_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a22e7b581b58f49ae2ec625e0e1043ffba11fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2118/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.7_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcac23ea0bfbb76d513577f7d8930a30a4106b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2119/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.8_0.0_MultiDynamics_arc_17_0.174_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddcced82245ea925b9f0a48d1caf5dae942eaaaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_212/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.580_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b095ab629b85254c1dec529ac95a5406729eada
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2120/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-1.9_0.0_MultiDynamics_arc_18_0.164_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d5cad9b6a7978a5ed27af6930f686ab7c5d77f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2121/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f669ebe5ba4118734b16a070699035ab64e11c47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2122/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_-2.0_0.0_MultiDynamics_arc_19_0.155_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44d88bba56029268fdeb6e15ff73a2a91e19ec7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2123/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_0.7_0.0_MultiDynamics_arc_6_0.492_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..928e9c49e6128b98614a30baf63077480e90708c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2124/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_0.8_0.0_MultiDynamics_arc_8_0.369_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db5f0143509d9a2e6660013b5f29ecbfcf2bf5d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2125/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_0.9_0.0_MultiDynamics_arc_8_0.369_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82283856979257368d70b92b7048c4ea8d1f589e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2126/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.0_0.0_MultiDynamics_arc_9_0.328_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16aa20440ffe311553b036673b3d25d1bab70037
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2127/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.1_0.0_MultiDynamics_arc_11_0.268_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9429ae3b49c4573ca7348a0b62a9caf46b8b7d88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2128/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.2_0.0_MultiDynamics_arc_11_0.268_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d5c9f61ca9d08fcba8a3ce99d8dd6f6c9ca5c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2129/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.3_0.0_MultiDynamics_arc_12_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3b1518946432f0dad51bf0be34468dd7a1a7dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_213/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.68,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.680_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87eedd956d6c92ac222290db19e6e7c17aa8e5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2130/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.4_0.0_MultiDynamics_arc_13_0.227_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0391886bb854b6f5d9222271bb2b34c5416fea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2131/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.5_0.0_MultiDynamics_arc_14_0.211_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b73e08fe5dbbf955c64748e411e38512e2b48a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2132/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.6_0.0_MultiDynamics_arc_16_0.184_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de295d05f7e5bd7e385d365b98925546d31383d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2133/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.7_0.0_MultiDynamics_arc_16_0.184_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08261820fa3a9f20330311ab5a6a8b9920ed9351
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2134/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.8_0.0_MultiDynamics_arc_17_0.174_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c74d94754df50a66760f82fcdd83a3ca56737e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2135/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_1.9_0.0_MultiDynamics_arc_18_0.164_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c76be392ce882f2c53b2d96bf8aca6945bac30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2136/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b47965ed9c54d6b74a07fb994fe66353ddd943
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2137/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.4_2.0_0.0_MultiDynamics_arc_19_0.155_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c51e43f2c65a4d860ab544573fe2443cf4b8887e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2138/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f391475f96d811664f1f11f919cd7c4f0f53d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2139/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-0.8_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0149a34e325cf36a4157cac87f2299d15d1580d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_214/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.062,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.698,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.3_0.0_0.0_MultiDynamics_1_0.698_0.062_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d80ce10aaa2267aae7d39ceb99acca3e44fe5ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2140/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-0.9_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21e9a6132ce9f4518af681da4f3e3f7298ce2ebd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2141/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.0_0.0_MultiDynamics_arc_9_0.339_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..984eb1be3d27e5a534e3507ae4a88994e10842c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2142/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.1_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5a6c348f26c94737ddffaa013326fabcee66f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2143/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.2_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2d9aa4e3fb36ee57f4cf2511ae1609a0367471
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2144/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.3_0.0_MultiDynamics_arc_12_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19efbe1ed4c92f36ad5f08a84c12308d0b8e3a9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2145/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.4_0.0_MultiDynamics_arc_13_0.235_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4239407bf27fc9d20877de0613b09b90d796f0b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2146/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.5_0.0_MultiDynamics_arc_14_0.218_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b85ca7e3d1cd6d4e8e3e5ba7bfe316477ce78837
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2147/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.6_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ce6bc1d36102a3cd28929c5d5e6a98ac1edabc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2148/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.7_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f782b79239f3406f404de90d70ac870548bcdab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2149/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.8_0.0_MultiDynamics_arc_17_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d6db7e5e50f98f03f17f0b4a4f60de0ceb1e685
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_215/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.399,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.399_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d6307540b0a15a3ae5a88cf35c4374ad84a5eac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2150/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-1.9_0.0_MultiDynamics_arc_18_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1de36f8ac2e54fa48d9490a2081dab0198626f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2151/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc38764bc8b8bfb28f694190a9b9d2f4077a4b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2152/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_-2.0_0.0_MultiDynamics_arc_19_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c57022af377fbcf2bca07e970067d403cf2e212
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2153/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5fa93ee950e33832bc0f851b3b7093ea6bdf4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2154/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_0.8_0.0_MultiDynamics_arc_8_0.381_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a8d432e64a27d72689b72e564c0dba755d7ba43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2155/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_0.9_0.0_MultiDynamics_arc_8_0.381_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f3eb255ec69ded3b5846eda9589de93037c018
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2156/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.0_0.0_MultiDynamics_arc_9_0.339_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e77c31e0f124c11ab0b6b6f400fde3233a6d64
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2157/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.1_0.0_MultiDynamics_arc_11_0.277_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e934db09cd49d52a55b3011c33b35f5440203610
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2158/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.2_0.0_MultiDynamics_arc_11_0.277_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d853193f918c687cd29a127ea7c2651af5a4616b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2159/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.3_0.0_MultiDynamics_arc_12_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b0b2e1218019e6d3a64cabe9d16ef2e569a7f46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_216/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.465,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.465_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..411ed2713a0d495a27d9bf15931205193ab2a0ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2160/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.4_0.0_MultiDynamics_arc_13_0.235_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..297710cae7e574c921fa7c43b8d835abf31dc7d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2161/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.5_0.0_MultiDynamics_arc_14_0.218_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d470c8f06f5e5f2d15cab718466e814188298fb4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2162/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.6_0.0_MultiDynamics_arc_16_0.191_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..372e34205ae5a8fe1ac320b765613cca6272d7d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2163/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.7_0.0_MultiDynamics_arc_16_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d2ab4a56857cd84001c3d48b5c58f1175a1dda7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2164/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.8_0.0_MultiDynamics_arc_17_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3728736769584ca6d2f3156962283b4f845b0241
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2165/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_1.9_0.0_MultiDynamics_arc_18_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e53889c21313e74abbd14d91d686e1cb268a44e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2166/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..308312e77e7cff48df2d4a5bb64a4bda9534eb2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2167/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.5_2.0_0.0_MultiDynamics_arc_19_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a869efa5d5db161bf0f1240c5cd54c38eace0482
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2168/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15893d2fec58c460b3f20a6846ed7394f78a15c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2169/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-0.8_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f4234b5cce568c314bfe93ad443b038dbae52f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_217/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.515,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.515_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa8a2c96e190d64110afa4ec647c5fd3c9a8f57d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2170/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-0.9_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd7af2ffbd9cc3b57a14692f527cc5cdaa8f874
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2171/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.0_0.0_MultiDynamics_arc_9_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..446636aae1e67bf1901c517e3bbcf42a496b755e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2172/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.1_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2fed3d33334501ee0cff5c402aa584dec0b9d2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2173/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.2_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a069507b196eb852085bc1fb4ae8344f169e0918
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2174/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.3_0.0_MultiDynamics_arc_12_0.263_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a105d764634ac96e6c9180d7b061c7021b558599
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2175/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.4_0.0_MultiDynamics_arc_13_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9457e8c8d7fca02f0555c65ac70a266841d1ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2176/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.5_0.0_MultiDynamics_arc_14_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4162ef53ae2f23d32ff3ac905ac0fd6c5f80f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2177/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.6_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa5eb27f82af3fce0c4593c209e7cbeab0e4bb3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2178/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.7_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0700252ac7f4e4f8e25fbc254f50c5736bf62f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2179/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.8_0.0_MultiDynamics_arc_17_0.185_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4489b11c030b70639386badc77590aaff46b250b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_218/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.565,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.565_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f588064a504f69ace8d841d15a3b5460b4f9c10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2180/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-1.9_0.0_MultiDynamics_arc_18_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f060a1e9ed58d53d36e43ce8bf05f9c82c0951a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2181/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da1e6826573b4e0c14f6d3ba8168c2038d9deb77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2182/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_-2.0_0.0_MultiDynamics_arc_19_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab4ed34d24493340cb6e03be7f1b707e807a943
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2183/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c0b216237de225fcecaf306f033a114d540ac1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2184/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_0.8_0.0_MultiDynamics_arc_8_0.394_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..764d593cd57d6465f63ec7d3e6e0f58ec1cfc3b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2185/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_0.9_0.0_MultiDynamics_arc_8_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81ba6f375521bb495e5bd9b172969a110ebc3f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2186/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.0_0.0_MultiDynamics_arc_9_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d31e383458e23230dec508bd0647a2240d73d61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2187/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.1_0.0_MultiDynamics_arc_11_0.286_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7bb51ec31e2b13a34d2c130a68d51246492a41a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2188/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.2_0.0_MultiDynamics_arc_11_0.286_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3540b1ce48748d660cd661666c9724529ff9eb3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2189/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.3_0.0_MultiDynamics_arc_12_0.263_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d20e208f3a4f6518215419a87f584d5e5a9430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_219/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.615,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.615_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed06638a2bb5a309e4008f0a342044d49245d83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2190/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.4_0.0_MultiDynamics_arc_13_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f572fa38c366fdcf7ebaa4645341e7c496f9b8ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2191/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.5_0.0_MultiDynamics_arc_14_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9623453c5017ef67dcd9db2012d8f5ed57134d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2192/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.6_0.0_MultiDynamics_arc_16_0.197_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d880d53b6c640c446720e46d8b0320b9193fa80f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2193/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.7_0.0_MultiDynamics_arc_16_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e7858a758fa1edc3b6229f5ba43a44cbfce446
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2194/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.8_0.0_MultiDynamics_arc_17_0.185_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b19d125bf5032fc3a4d128ced410f287c2cd30b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2195/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_1.9_0.0_MultiDynamics_arc_18_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19318107eaa290afbb9a584fed7c58458519d1c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2196/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bcedfdf9d39feef2d2b9e3a5ddee8b2c260d5b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2197/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.6_2.0_0.0_MultiDynamics_arc_19_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff185e1d2150b4015a00e9efb047f0beabb23d74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2198/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df67773898f4d082929bbd94fe0e2a3a28ef545
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2199/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-0.8_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_22/meta.json b/RH5_dataset_threads_5000eps/frames/episode_22/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..454679500125ae100ccdd67cd7f1af73fb74f973
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_22/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.5_0.0_0.0_MultiDynamics_5_0.588_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb93e925c83113f9c7b981e058548e51d5b1ca5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_220/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.433:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.433,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 1.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_1.9_0.0_0.0_MultiDynamics_3_0.433_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f7b38aab51f8280772663687f7085af74f1e064
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2200/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-0.9_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2344a723ca4fede9e9b3f924d089eb6dd37999f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2201/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.0_0.0_MultiDynamics_arc_9_0.361_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d5ec04cbe29028f990a5d49b346ea3a3f8886d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2202/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.1_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..074686be7811fbbbc5ee8ac41d24624db62928fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2203/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.2_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..212de71248e99143801e650747b6d4335b1f9372
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2204/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.3_0.0_MultiDynamics_arc_12_0.271_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0937e45f83d9ba9ba902ce8f3a01e6f8cbfd62f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2205/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.4_0.0_MultiDynamics_arc_13_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd2ce8a9282e9b7b729f207ce9baff8afde33c12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2206/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.5_0.0_MultiDynamics_arc_14_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..684284981a5b671799f3d49fa12e7129a9dc21c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2207/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.6_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..258ef81eabec0c0cf16af11caec73e0c1804b03c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2208/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.7_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a474f48a7fbfee2c863845627bda22b7d6086d51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2209/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.8_0.0_MultiDynamics_arc_17_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85477f4d034e85fd1065fd58cd221e3bd5bee424
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_221/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.466,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.466_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f519710d776a8b06b795ddc30fbf610f3a545240
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2210/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-1.9_0.0_MultiDynamics_arc_18_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..980b83858e205a6149dac429760b7313da8a3f71
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2211/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4828407d82295322b169a9674cf5db887e5bedf9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2212/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_-2.0_0.0_MultiDynamics_arc_19_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1614bbae97cdbef22594c3403483bafd1486474d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2213/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d10c7e9a0bc16322db79cdf959dbf9f62d088cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2214/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_0.8_0.0_MultiDynamics_arc_8_0.406_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93246f598818f767e066a10197fa0555e7227d18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2215/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_0.9_0.0_MultiDynamics_arc_8_0.406_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07531ebdaf8f80de7a85a25a3bc57be86c0a25c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2216/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.0_0.0_MultiDynamics_arc_9_0.361_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37805e6c0e58383a7604eabfedd258ba66950de7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2217/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.1_0.0_MultiDynamics_arc_11_0.295_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf68e5af65f76c4be2f05de5b395aaec0036d18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2218/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.2_0.0_MultiDynamics_arc_11_0.295_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72cbec3d7bbdc8da6f9ab6a727e5dbafdb45034
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2219/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.3_0.0_MultiDynamics_arc_12_0.271_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f7f72bdd65a086d89c953a57fea97679d5d0f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_222/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.499,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.499_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..496aea813010b619c4a41581bfa82d5994531c44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2220/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.4_0.0_MultiDynamics_arc_13_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd8964ea1e14e9a5435ff710416d57fe394f6c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2221/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.5_0.0_MultiDynamics_arc_14_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bcf06ff9fc43c992324b6eaeac8c7ecfda9c141
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2222/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.6_0.0_MultiDynamics_arc_16_0.203_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea9c121ce21e37df035aeacfc8af357a08851c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2223/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.7_0.0_MultiDynamics_arc_16_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af485faf4ca1135d03f95f0b3ebcf25b7134d88a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2224/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.8_0.0_MultiDynamics_arc_17_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc9a8dcfdb18e285da283b71a11cb6b7784d5de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2225/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_1.9_0.0_MultiDynamics_arc_18_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd106eed78cde6d8e61be77d265a8179942f6fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2226/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce8141a08bd3b88666bbf7ff48a8ff85cef7dcd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2227/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.7_2.0_0.0_MultiDynamics_arc_19_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1853700e15335f5f5cea00939f6de420ac4bd598
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2228/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfc2afaccf914e79b04577c268feb5b6ef69f8f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2229/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-0.8_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30aa08e9ca1445dd81c2d2eb5e372c915ec6a73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_223/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.533:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.533,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.2_0.0_0.0_MultiDynamics_3_0.533_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6287fe203fd1987539ce317122246aaaa93e22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2230/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-0.9_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..511ab76c282f3dc8a4f2b0773b98ba56b70b3def
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2231/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.0_0.0_MultiDynamics_arc_9_0.372_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed0c5cf03a6d4f7bbaba2ad5b45b4f7c25a3378
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2232/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.1_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a70909e14f59cab409fe29fa4a0439d25e9aee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2233/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.2_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5471a338e50bcd9b4cb13d650170a9e527bdc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2234/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.3_0.0_MultiDynamics_arc_12_0.279_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a2aa2588d91c4444b32f9e80206e3affc579b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2235/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.4_0.0_MultiDynamics_arc_13_0.258_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31b4b3ee40c044efbcd6013f7eff406f542ee613
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2236/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.5_0.0_MultiDynamics_arc_14_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..732152166a1e25330ebfcdc8c5f306fa6ba3752f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2237/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.6_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3b37fc818e17492299127a0bd6787ebcc607218
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2238/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.7_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f4967378683b2fa26d36de01a6b270a03d6439
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2239/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.8_0.0_MultiDynamics_arc_17_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b72485843034e3ba3ed1a4e66e8e8be7b738d30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_224/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.062,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.566_0.062_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d26852589a77c6c9936000cc70d8ddea7eaa927
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2240/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-1.9_0.0_MultiDynamics_arc_18_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c882f683d882ddcdaf915c876358212c8e47392
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2241/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..483817569d57db1bd046f0a37a5861a249bbcccc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2242/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_-2.0_0.0_MultiDynamics_arc_19_0.176_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f343d0896c584351bf27c1635fd4631b7697f914
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2243/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..743e743bf29cf40956d72f030effe69a31dd672b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2244/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_0.8_0.0_MultiDynamics_arc_8_0.419_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2d4e95a242d9f7846f009b29f0bfed372fafa4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2245/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_0.9_0.0_MultiDynamics_arc_8_0.419_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2246/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44b81fcd18f5f0a38859ab55647b925135915fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2246/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.0_0.0_MultiDynamics_arc_9_0.372_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2247/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb93c11ddca04447061e55ffcc245b3977fcf30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2247/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.1_0.0_MultiDynamics_arc_11_0.305_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2248/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac3d72316add0e8f82d4a27ad4cb02cecf26712b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2248/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.2_0.0_MultiDynamics_arc_11_0.305_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2249/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1cc1bb1c709ead13617f9a568d53c90cf20563
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2249/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.3_0.0_MultiDynamics_arc_12_0.279_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..badba9ec37b86d14bbf54890d20b892613a54a38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_225/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.062,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.61,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.610_0.062_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2250/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba2a30f50fb5ba33d9d279c9d74c226b0113595
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2250/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.4_0.0_MultiDynamics_arc_13_0.258_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2251/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..323119e6d297d76cf43e1fbb1673f96b54f56302
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2251/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.5_0.0_MultiDynamics_arc_14_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2252/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af53c43bbda93a065f1f2453e425545caa9205d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2252/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.6_0.0_MultiDynamics_arc_16_0.209_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2253/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8a6f1d9f446ad59a96233e6c5341d2dd999c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2253/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.7_0.0_MultiDynamics_arc_16_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2254/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..438f83b88f8c1b21e7dc6dd1cc3257130f6fce33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2254/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.8_0.0_MultiDynamics_arc_17_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2255/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ef13d13777d10437abc70b07a131322553535b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2255/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_1.9_0.0_MultiDynamics_arc_18_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2256/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f74543b85b5bda2a62ad10e5f67c8af56908c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2256/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2257/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f285f9c766538b96cbe05e615f9a956ac714160e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2257/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.8_2.0_0.0_MultiDynamics_arc_19_0.176_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2258/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8358c8818c9c56186a63a75b498eaaa41dc30293
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2258/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2259/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf824ec82b8ae00b74bba5445fb71d886511e3a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2259/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-0.8_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01956a7ddf3f44d7721101c71501cab49dcd7b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_226/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.482,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.482_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2260/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9822789264abd7f294a5b1fc45506021da42617
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2260/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-0.9_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2261/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2dd9b48ce553e4ff3f10eae7bc64dd55ba17b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2261/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.0_0.0_MultiDynamics_arc_9_0.383_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2262/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa8ebe2889f93502e938b83ca1402e1004d0b1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2262/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.1_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2263/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c153e6decd01d33d9bd965d9e4a5526fcab618d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2263/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.2_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2264/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5d13ea9ba7e1505e44ba33de14cf3ef8b28ac2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2264/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.3_0.0_MultiDynamics_arc_12_0.287_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2265/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed481d2294a92bc009915c6b85929435550675e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2265/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.4_0.0_MultiDynamics_arc_13_0.265_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2266/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b25dd4edaea5e072a29fd172c8951845db2da3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2266/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.5_0.0_MultiDynamics_arc_14_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2267/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9806cd865b81a621c5b6d07b40bbbb0b0288d5a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2267/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.6_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2268/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a060cdeed1f699d70ae0eb6239115d5c27bb34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2268/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.7_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2269/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..091141a2d0a269e71f92b5d623d008a401e15121
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2269/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.8_0.0_MultiDynamics_arc_17_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9602878578ae0cd10b817ba0862aa230e6d0a33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_227/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.508,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2270/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddc1a5ed9d89ee237ca9f06b1ef1ea58444e0a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2270/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-1.9_0.0_MultiDynamics_arc_18_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2271/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ddad584c96f7465d4dde905aadbaeb6d69ed82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2271/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (3.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2272/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6fae710edc3689cd96adadcabd298cf2f0c570
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2272/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_-2.0_0.0_MultiDynamics_arc_19_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2273/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2d989b4d807a811deed5682155eccf11aa10c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2273/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (3.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2274/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1da51c1dd92b0aea1f529309dd7dbb848b9ecc2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2274/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_0.8_0.0_MultiDynamics_arc_8_0.431_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2275/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b720d4d97a2e3b476c56bb7c654f150dd623e1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2275/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (3.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_0.9_0.0_MultiDynamics_arc_8_0.431_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2276/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..882cd4b916b300898cb144f15e2ada84758976fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2276/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (3.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.0_0.0_MultiDynamics_arc_9_0.383_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2277/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dd279c50d400cd86dc4525bab31d7549da8adf9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2277/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.1_0.0_MultiDynamics_arc_11_0.314_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2278/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b05690d305d9386a515f3d7727e9b29170cd800
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2278/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (3.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.2_0.0_MultiDynamics_arc_11_0.314_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2279/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b216ef6467c24a4ab41fb2cb0d54f223f5483cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2279/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (3.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.3_0.0_MultiDynamics_arc_12_0.287_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d713abfca304ab97a5493618e946326471a2e601
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_228/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.532,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.532_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2280/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..833f6f70a4e8bcd038b98c3a217bbe86b7ffbcfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2280/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (3.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.4_0.0_MultiDynamics_arc_13_0.265_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2281/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b38f167f1fb112655095a334b7adf4f7ed3dd550
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2281/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (3.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.5_0.0_MultiDynamics_arc_14_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2282/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d0696e41286437b37ecb1ab96f74d81d23757a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2282/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.6_0.0_MultiDynamics_arc_16_0.216_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2283/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b4162fd53d5840537749d8b5e4a276236b0676
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2283/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (3.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.7_0.0_MultiDynamics_arc_16_0.216_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2284/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f9253de39454f568948b81d31951f218bc966e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2284/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (3.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.8_0.0_MultiDynamics_arc_17_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2285/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..933d5e507cab4be644197de9390946ab53438f20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2285/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (3.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_1.9_0.0_MultiDynamics_arc_18_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2286/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb7783383f49eac3bd7b9557c843d22ea6c5582
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2286/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (4.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2287/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..282adb72a26874a47479c2daf68fbc919858790c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2287/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (3.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_3.9_2.0_0.0_MultiDynamics_arc_19_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2288/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78452099e71b9ffbb1e8d371ddd8585ce64e80ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2288/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (4.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2289/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..911aa936d3b723c91afd5066d33a2cb044bd7240
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2289/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (4.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-0.8_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9551cec13aec5b26ee5f7a03b3a59fa3e2d5cc85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_229/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.557,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.557_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2290/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f99292bfe557a68922f971c40a0b7cc61a7384
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2290/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (4.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-0.9_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2291/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b0de9dd525900a07099f1f91e7ef93cd70ed9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2291/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (4.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.0_0.0_MultiDynamics_arc_9_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2292/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d96fba73ca8198ee9de86d2c5d543c0f0f9000
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2292/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (4.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.1_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2293/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e6bbaad4b80a73b7b73c4478e3b3df6fb6d480c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2293/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (4.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.2_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2294/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4883d5b814e7ee16d62f7c0e94b62ed62dcd311
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2294/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (4.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.3_0.0_MultiDynamics_arc_12_0.296_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2295/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68e65727a6504cb871d47b73635c798008ee5f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2295/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (4.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.4_0.0_MultiDynamics_arc_13_0.273_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2296/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b45e78b44ff715ee4e48bdbb08b0f0117407d416
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2296/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (4.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.5_0.0_MultiDynamics_arc_14_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2297/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eea9080735c84f1e49494269e5b6c9a723143ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2297/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (4.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.6_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2298/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1398a82563608ffb04a55e9a1ca181911dacab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2298/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (4.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.7_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2299/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f1230da6fd0cf98dfac9dba5115263bf2a7c135
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2299/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (4.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.8_0.0_MultiDynamics_arc_17_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_23/meta.json b/RH5_dataset_threads_5000eps/frames/episode_23/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0c75d94e0b3c2df1237e43785a7942b0863ca1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_23/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.568:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.295:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.4_0.0_0.0_MultiDynamics_5_0.568_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.295_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa6caac701c4adefc783cd3f6e2b0b9c4af1701
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_230/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.062,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.583_0.062_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2300/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b315be542d1e9f89c841dcd846ea5689cdb30835
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2300/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (4.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-1.9_0.0_MultiDynamics_arc_18_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2301/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3769e1e5ad05a359f36cb123abb5043f6b603c40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2301/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the green box at <DIST> (4.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2302/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3a6a39a322f9c7d745526b028a2a0e46ae6f28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2302/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (4.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_-2.0_0.0_MultiDynamics_arc_19_0.187_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2303/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf442556cd7e7cdfd97e27c220341305be314a96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2303/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the green box at <DIST> (4.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2304/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f489cdf7fcb3326f90ae75efb91bf300862fa4fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2304/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (4.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_0.8_0.0_MultiDynamics_arc_8_0.444_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2305/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..528c99c7405f614916b95bb1ec88786afda45def
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2305/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the green box at <DIST> (4.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_0.9_0.0_MultiDynamics_arc_8_0.444_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2306/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b9c331fe9af642b63f7aad27aec61fdf72937a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2306/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the green box at <DIST> (4.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.0_0.0_MultiDynamics_arc_9_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2307/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..035bbd4e78deeea32f55de235710c3546ecb8b32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2307/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (4.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.1_0.0_MultiDynamics_arc_11_0.323_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2308/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6cab7994e1b6dcf144c0beaa6e825970bc7ba8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2308/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the green box at <DIST> (4.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.2_0.0_MultiDynamics_arc_11_0.323_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2309/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..348d1bfdc92517289f6d49970f30efa5bde811b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2309/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the green box at <DIST> (4.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.3_0.0_MultiDynamics_arc_12_0.296_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ed8f76f37b8fd421fa3561afacceca2919ae489
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_231/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.607,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.607_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2310/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5414f1658d084d13da4a130379a186fe9b7b4c01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2310/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the green box at <DIST> (4.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.4_0.0_MultiDynamics_arc_13_0.273_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2311/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f2685932045c8cf07a79831e5c4476facf182d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2311/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the green box at <DIST> (4.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.5_0.0_MultiDynamics_arc_14_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2312/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..142782ab98e68db755f4c7e8ba34de5c58f25298
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2312/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (4.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.6_0.0_MultiDynamics_arc_16_0.222_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2313/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3cab72337345ba9ddfeeaf53c714e2cc9d791c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2313/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the green box at <DIST> (4.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.7_0.0_MultiDynamics_arc_16_0.222_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2314/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a192bf8878fc8d5a462c5ffb4d96b92f3f70c589
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2314/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the green box at <DIST> (4.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.8_0.0_MultiDynamics_arc_17_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2315/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c203843b8e1dcdea5da33b25542dbad464bd3b79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2315/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the green box at <DIST> (4.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_1.9_0.0_MultiDynamics_arc_18_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2316/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f9dc49eff74d4b9108aa81683eff80c9393c4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2316/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-0.6_0.0_MultiDynamics_arc_5_0.110_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2317/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..459490d9fff48e6330cc0dd6c84d63b30f61fa0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2317/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the green box at <DIST> (4.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/green_4.0_2.0_0.0_MultiDynamics_arc_19_0.187_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2318/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9efa866519d0e95604583d841dc70cbebc281163
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2318/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-0.7_0.0_MultiDynamics_arc_6_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2319/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22546b6c96ea8c90dc5322676bb9a5765f6ea47f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2319/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-0.8_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2389a965bc46cc98d5c8dfdd92128c1cb2e067d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_232/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.506:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.506,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.506_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2320/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd1fde307153c0f35362c1e62dd2251df93b097
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2320/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-0.9_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2321/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff6a6926ddc34c33d5994f76d2a95c41e8bd7ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2321/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.0_0.0_MultiDynamics_arc_9_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2322/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..253312722a318ccd8a58635325b49f4b11a0fded
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2322/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.1_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2323/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16d9d54adab9936a60c9131b276490a56244d943
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2323/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.2_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2324/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df66b7c6310a3103440b2d7f0177a4d34d050897
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2324/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.3_0.0_MultiDynamics_arc_12_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2325/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ec1042bc7e04203a21607a6e00f2b4a8fbacf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2325/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.4_0.0_MultiDynamics_arc_13_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2326/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d530d65b7b40fc2e410b58de65fb6ad1935f2b17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2326/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.5_0.0_MultiDynamics_arc_14_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2327/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5434970b8d57830ad1bd7e21e2bff639a08294eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2327/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.6_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2328/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e20dddaef72747104af7732fe182c032dda826a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2328/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.7_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2329/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb87669f7afcfed8851befb8f188cb923094afa6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2329/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.8_0.0_MultiDynamics_arc_17_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..737da326d5dd70749949898c0c810b8eff3e01d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_233/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.526:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.526,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.526_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2330/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a9fe3d388ca3ea5fe657e10b645a05ae82bfc22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2330/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-1.9_0.0_MultiDynamics_arc_18_0.031_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2331/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..066a907e8b5c9adf3d3ab1a7f8631050ab2e01bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2331/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_0.6_0.0_MultiDynamics_arc_5_0.110_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2332/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6562ac74e672cd83cc43ec46f7013bdb2adea6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2332/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_-2.0_0.0_MultiDynamics_arc_19_0.029_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2333/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebded0912ffb526ee8fa15ca08f17d3df56239cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2333/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_0.7_0.0_MultiDynamics_arc_6_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2334/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed356cbd1caf7591a7395cfcda020f93232e731f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2334/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_0.8_0.0_MultiDynamics_arc_8_0.069_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2335/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6af2ae743726d72a4793ce0dbadf13004e167b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2335/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_0.9_0.0_MultiDynamics_arc_8_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2336/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..282c56b80f809e2b76279874d5644d9128af5e97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2336/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.0_0.0_MultiDynamics_arc_9_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2337/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d18622aeb1a62de7d784b8dfe4f8dde6ff735
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2337/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.1_0.0_MultiDynamics_arc_11_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2338/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d957fb3271c815234392f45e8a2c9841988736
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2338/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.2_0.0_MultiDynamics_arc_11_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2339/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96019c344bdac2fa3073ba969a2a26ed58b6e6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2339/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.3_0.0_MultiDynamics_arc_12_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e1b95802136704424ffd3a06323b632d8f57e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_234/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.546:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.546,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.546_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2340/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f9e45fdc7da9937bff1eb91d13b48b0c155f74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2340/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.4_0.0_MultiDynamics_arc_13_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2341/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..525d115a09f5c3e3b4f61b89840fc42315c50fe5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2341/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.5_0.0_MultiDynamics_arc_14_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2342/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9f06752b39c56b995f3a2ba432acf333502a5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2342/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.6_0.0_MultiDynamics_arc_16_0.034_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2343/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89f0cf427484e06600553c3c1e790687c7857ea1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2343/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.7_0.0_MultiDynamics_arc_16_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2344/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8750b973b944252363aafa05e79bf366d4ed2d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2344/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.8_0.0_MultiDynamics_arc_17_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2345/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e97fc805d2701d360738e4dbc5a78cae41497ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2345/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_1.9_0.0_MultiDynamics_arc_18_0.031_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2346/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3205a24a99e5eef2e4cc4844e5f5c42d4831ed3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2346/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-0.6_0.0_MultiDynamics_arc_5_0.130_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2347/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d88d7a379ae9df132156c90916b84a7ee90f28b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2347/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.0_2.0_0.0_MultiDynamics_arc_19_0.029_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2348/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb69df372c37895888ed32a865513693cf7c90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2348/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-0.7_0.0_MultiDynamics_arc_6_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2349/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b65500701a1d283eb48e8476286b9dc97880f9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2349/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-0.8_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..053ca4788c37240e4ca1d7a73a38e2fabaa1dd9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_235/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.566_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2350/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e75b671064e25d47a223fc68d6d53debbab7502
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2350/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-0.9_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2351/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49bf0e4d83ad9877a3cbaf12dd827c553991873e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2351/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.0_0.0_MultiDynamics_arc_9_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2352/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36c7d947e02da2a235395142770bd5d4ad72b1a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2352/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.1_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2353/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba606e73e57436d1d96b8b65ff513ff3469e7e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2353/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.2_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2354/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1db718b2a65c3d668525c260c2ec7a5d69669b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2354/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.3_0.0_MultiDynamics_arc_12_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2355/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03e6fea9a78225fc628905ab8b9cffa689d52c6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2355/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.4_0.0_MultiDynamics_arc_13_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2356/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..136c5208c4f9cb8c5a505a7de465fc73e71c3e1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2356/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.5_0.0_MultiDynamics_arc_14_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2357/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..773973d82fba7913e4709706294e489471c1d7b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2357/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.6_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2358/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b00936088a6381c3bd101267c4be95f5f695d893
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2358/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.7_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2359/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e6372c515488414a882ea3d56c9316df21a90e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2359/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.8_0.0_MultiDynamics_arc_17_0.038_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b399043706407f0ba72c4c80c914ed82da6949
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_236/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.586,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.586_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2360/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03831908f1a744be632acf648fa453f8ba9ebe7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2360/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-1.9_0.0_MultiDynamics_arc_18_0.036_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2361/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f126948e46e37370264cdbab8110040e2de789f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2361/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_0.6_0.0_MultiDynamics_arc_5_0.130_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2362/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f417ec296362c56407b6021b182d05585b312755
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2362/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_-2.0_0.0_MultiDynamics_arc_19_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2363/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a840a87eaea05df0bae95b0cb7c4c6ca2f7116ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2363/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_0.7_0.0_MultiDynamics_arc_6_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2364/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5574926c7ecc3e8d3f18e719515c64144e7c6a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2364/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_0.8_0.0_MultiDynamics_arc_8_0.081_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2365/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30da0dba6ef4dc321bd82719887e3b9a44221e3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2365/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_0.9_0.0_MultiDynamics_arc_8_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2366/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ed839edb656e75aa2f9d3ae2ee65eaaf31e1e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2366/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.0_0.0_MultiDynamics_arc_9_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2367/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcfa0f158e9f128912868cba447b880f3e3b85a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2367/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.1_0.0_MultiDynamics_arc_11_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2368/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e552fb2a0cdedd7967e4d4de5ed3781a4e8dea78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2368/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.2_0.0_MultiDynamics_arc_11_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2369/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9cd6d580feefe16a0350517cf958292c33e0e52
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2369/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.3_0.0_MultiDynamics_arc_12_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ab6329dcfe062aab159a7edd0f9fb54d371e3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_237/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.606,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.606_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2370/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1098fb431a299f869b61fa1e5fe46f4f9e83db90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2370/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.4_0.0_MultiDynamics_arc_13_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2371/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8abf2301a3aca7c01d0e24650e3fced99e66d863
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2371/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.5_0.0_MultiDynamics_arc_14_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2372/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27f7615464153248432e37ab65954aacd7672e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2372/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.6_0.0_MultiDynamics_arc_16_0.041_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2373/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0d79a829525910483349657ef6fd1475d447988
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2373/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.7_0.0_MultiDynamics_arc_16_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2374/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab96e8deb436b6c69e2dd2cfb46aa2323d9771d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2374/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.8_0.0_MultiDynamics_arc_17_0.038_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2375/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44cbb936eb5f487db9b682204960e515f984ec5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2375/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_1.9_0.0_MultiDynamics_arc_18_0.036_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2376/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa45f8d5c5cae14ffcd445f51ef82d3c428d823
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2376/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-0.6_0.0_MultiDynamics_arc_5_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2377/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21b736309d6d121bf0c21997f1c91ca790c0b8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2377/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.1_2.0_0.0_MultiDynamics_arc_19_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2378/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3342a9a9a4ea72e3c00f22af8819e0ac017bf0ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2378/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-0.7_0.0_MultiDynamics_arc_6_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2379/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..768f85ecf572996ecb4111976661a2cfc8373b2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2379/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-0.8_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6815ecf00a45ef0e89ed14ecc5b8fc4c48cf4bc0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_238/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.062,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.626,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.7_0.0_0.0_MultiDynamics_5_0.626_0.062_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2380/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee9369efa9058a7ce824d76d883587738db55a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2380/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-0.9_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2381/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fba8be60f25246f183d410bb88d25cd93b81ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2381/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.0_0.0_MultiDynamics_arc_9_0.083_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2382/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba224755f81b5be00ddbc2e9da8f6db56924934
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2382/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.1_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2383/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a7701a6320d933caa81ec9a5ded5ec43a2f9356
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2383/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.2_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2384/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..248c9720d7f98884061d404b042e4ba034460230
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2384/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.3_0.0_MultiDynamics_arc_12_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2385/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f79cf97df6015ad2312cae6ef522023b6a59279
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2385/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.4_0.0_MultiDynamics_arc_13_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2386/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc0552176416c5a611a6db779c7d93c7205db58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2386/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.5_0.0_MultiDynamics_arc_14_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2387/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c2940875d44e84c4fcd0089b661941a46ded04a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2387/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.6_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2388/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f39717194f0564012b8245041ea71c9d19c08cea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2388/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.7_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2389/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04dcc8b696f801112689fb1e727fb5d14f9d3e42
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2389/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.8_0.0_MultiDynamics_arc_17_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7204cb11f5c3696e8c840a7e7f0a091150cf422
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_239/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.538,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.538_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2390/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..025688af6d89be96360d9d0b170e7b835aa96845
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2390/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-1.9_0.0_MultiDynamics_arc_18_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2391/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f6f4e585136a8ebfbcba43c292a89f0cdd7de7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2391/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_0.6_0.0_MultiDynamics_arc_5_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2392/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6352893988f9bf3af6441d30151460de7b828e9b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2392/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_-2.0_0.0_MultiDynamics_arc_19_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2393/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7c96b4639b98e38f443427c6f40bff0800b4cf7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2393/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_0.7_0.0_MultiDynamics_arc_6_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2394/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9097562b950bcf72331d2c9802ad252316ab70c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2394/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_0.8_0.0_MultiDynamics_arc_8_0.094_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2395/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13b296ec231c127e0d71c4d9973d495b22fd226
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2395/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_0.9_0.0_MultiDynamics_arc_8_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2396/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..693b2cedecfea58e38c808d8d31e184d056aab4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2396/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.0_0.0_MultiDynamics_arc_9_0.083_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2397/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c1371f33b6f737ba427691c17cafdb11ade121
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2397/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.1_0.0_MultiDynamics_arc_11_0.068_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2398/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1d2a723234647cfe2f9479b01867cd3f3cc510
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2398/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.2_0.0_MultiDynamics_arc_11_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2399/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6340689316e8de1f57ab6489a7d4688ac50c92cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2399/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.3_0.0_MultiDynamics_arc_12_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_24/meta.json b/RH5_dataset_threads_5000eps/frames/episode_24/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a68fa60f84ed154b9da785e7c79501c14a4e938
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_24/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.3_0.0_0.0_MultiDynamics_5_0.552_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7bf3862510f2859a9c4e58d0dd9eadf6b693604
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_240/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.555:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.555,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.555_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2400/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20318b61368c14a5bcc32a95220f6fef40f3e819
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2400/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.4_0.0_MultiDynamics_arc_13_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2401/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf9c261857161df76cbf7099c1d3aa5cd81fcf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2401/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.5_0.0_MultiDynamics_arc_14_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2402/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae8f6be8a951f5f777f43491facebdfcf79f96d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2402/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.6_0.0_MultiDynamics_arc_16_0.047_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2403/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc4c6ed487b28644cc4deefb3a4838942317c43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2403/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.7_0.0_MultiDynamics_arc_16_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2404/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c463125671602f64743024a0e84ec99c6aa1ab52
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2404/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.8_0.0_MultiDynamics_arc_17_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2405/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53dfca7ccb5c628c74806750a8def3fb749152e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2405/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_1.9_0.0_MultiDynamics_arc_18_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2406/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81cc6ff34500157e9b9b91687f14e0f60ee223d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2406/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-0.6_0.0_MultiDynamics_arc_5_0.170_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2407/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7d8de4a91ca7558f2920abda45a6b279292882
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2407/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.2_2.0_0.0_MultiDynamics_arc_19_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2408/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f635784a585c63d90a2734e4d8f85ca131afc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2408/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-0.7_0.0_MultiDynamics_arc_6_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2409/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..769619a64a164f785ea998e836a0f9752c1369f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2409/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-0.8_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b1a0d9f9b151e2a4615b5e437dac84285bf46e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_241/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.572,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.572_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2410/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f7b2f7f34b9de4b5bf210cdd772b3350aadf8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2410/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-0.9_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2411/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf14a4dcb1729a1ad6aa94577404a9a27ab72abb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2411/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.0_0.0_MultiDynamics_arc_9_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2412/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13010be2b0a516e9f732aa14922fb0a0948b0bdd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2412/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.1_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2413/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c079a11c4599617acdc45f27d235c78d1365c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2413/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.2_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2414/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7397e1346b6a99ff2fe6b07cab81a672e6467a9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2414/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.3_0.0_MultiDynamics_arc_12_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2415/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60015e736d6417b7d964bf20dec887c91e68c8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2415/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.4_0.0_MultiDynamics_arc_13_0.065_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2416/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e59317f6355e97e8835246363a2d218229720c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2416/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.5_0.0_MultiDynamics_arc_14_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2417/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2dc65bc77ac298457ad9527a815cfb39aab7228
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2417/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.6_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2418/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48021ddd18f146866053f7f60c4548562f307d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2418/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.7_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2419/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9edf64d3a4704400476f527854861310388b55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2419/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.8_0.0_MultiDynamics_arc_17_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8695d278d2b9b41f733f1b5788eff348d27e3c2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_242/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.380:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.25:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.38,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.380_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.25_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2420/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a0d073272f11dd4857d3f96d9dac3a405f5dedb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2420/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-1.9_0.0_MultiDynamics_arc_18_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2421/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..491f83ef44fe1871c03f8d0ff29adde915106a90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2421/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_0.6_0.0_MultiDynamics_arc_5_0.170_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2422/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28ff64dee57d5cd6f702ec50324aa6aaad2e8a87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2422/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_-2.0_0.0_MultiDynamics_arc_19_0.045_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2423/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8bc5c1d2a30f202f6a16b2b6ebf8e873e7abfed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2423/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_0.7_0.0_MultiDynamics_arc_6_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2424/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2237680e53fdffaecae7732946dedc026a208ab7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2424/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_0.8_0.0_MultiDynamics_arc_8_0.106_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2425/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dbe3f2a6a7e0434eace633cc68be173e62a4de4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2425/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_0.9_0.0_MultiDynamics_arc_8_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2426/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0575e84deafd6cc680f4f2ed5740369142695a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2426/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.0_0.0_MultiDynamics_arc_9_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2427/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f40a26737a488d66a6d7b277f9c3b81625753b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2427/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.1_0.0_MultiDynamics_arc_11_0.077_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2428/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0109644cf70fcc8c04fe2e4244c45db7aed90023
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2428/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.2_0.0_MultiDynamics_arc_11_0.077_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2429/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc734a353186571fde567ac062c655d727c482bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2429/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.3_0.0_MultiDynamics_arc_12_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b93992028c0b074e70228afbfeeea703b6366e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_243/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.580_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2430/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..363beee2cc410a712e3785f688c87927aa130751
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2430/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.4_0.0_MultiDynamics_arc_13_0.065_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2431/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dac41faaf79c2bb745877fcde2283d389821463
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2431/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.5_0.0_MultiDynamics_arc_14_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2432/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e252dfcaf79d7042516a43e5a4ab3c25c31034
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2432/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.6_0.0_MultiDynamics_arc_16_0.053_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2433/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ee86a094a6e16f7bc705187e3c5ea479a4f81d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2433/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.7_0.0_MultiDynamics_arc_16_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2434/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..608f1b3fcee33e507015d51812d5cdf02616586e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2434/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.8_0.0_MultiDynamics_arc_17_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2435/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c7360fd2d0f898b2536406db2062cfe058516
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2435/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_1.9_0.0_MultiDynamics_arc_18_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2436/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4c9d3b0cba5fa59bcd7c9e1aa0bd54e196e9d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2436/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-0.6_0.0_MultiDynamics_arc_5_0.190_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2437/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c9df02c4abce925479aa8e2d657bae3716c03ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2437/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.3_2.0_0.0_MultiDynamics_arc_19_0.045_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2438/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ef3a92efb3d0582efdd8135e513acde385bf28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2438/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-0.7_0.0_MultiDynamics_arc_6_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2439/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7aee34283b320a364eb2e6f368c93fa79971dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2439/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-0.8_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd072aebf9c180e0decfec2db1e4f86b611f39f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_244/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.68,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.680_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2440/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc928b23d26c7959c05b9f3a11284744a5860bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2440/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-0.9_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2441/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f839b3a2c65f6abb64495b02dd62e51f83380fad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2441/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.0_0.0_MultiDynamics_arc_9_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2442/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e2daa3d93e98d31963fec68dea4bb7da47a758
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2442/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.1_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2443/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71de5f37e730d41d8781f92d320447fcf63321b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2443/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.2_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2444/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a58e67c0f80d697124d873adba40eeb8ce6cd81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2444/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.3_0.0_MultiDynamics_arc_12_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2445/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1214f97c5f444166ee75e7b9562f0aa7fb775a0e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2445/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.4_0.0_MultiDynamics_arc_13_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2446/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f084a583e3cde8bdee24ff6c59c1762c53493c08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2446/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.5_0.0_MultiDynamics_arc_14_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2447/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3539a4da9af245d7e06ac6c892fac4b440d1f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2447/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.6_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2448/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64bc767bf8a7e9124f1e399d660318d817413269
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2448/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.7_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2449/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14716c69e803454cba821c58f014dab3a0d71169
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2449/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.8_0.0_MultiDynamics_arc_17_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b89d2eeacbb5f1c1c75b10361ced39d320dc71
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_245/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.062,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.698,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.3_0.0_0.0_MultiDynamics_1_0.698_0.062_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2450/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fc2753a4b20c7fe67cce6de09ccc4aa187f08e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2450/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-1.9_0.0_MultiDynamics_arc_18_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2451/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49490156eacb26fea77bda8cac282dba46cfdda5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2451/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_0.6_0.0_MultiDynamics_arc_5_0.190_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2452/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee791e5dc8f23e4093bd7b558ad6be3dac796e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2452/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_-2.0_0.0_MultiDynamics_arc_19_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2453/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c3f561e823c5efd292226804d793115e54a0fbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2453/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_0.7_0.0_MultiDynamics_arc_6_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2454/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1454a0ac470c14f24e50d26e8fac20b5924c40e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2454/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_0.8_0.0_MultiDynamics_arc_8_0.119_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2455/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fd5d38f2218a4044daf16beb3538946c4d5475
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2455/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_0.9_0.0_MultiDynamics_arc_8_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2456/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c11dc9fad9f618bf12435e28324480b4ff0f795
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2456/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.0_0.0_MultiDynamics_arc_9_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2457/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05635797aa5470d53315d455ee97861f340d4a87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2457/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.1_0.0_MultiDynamics_arc_11_0.086_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2458/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4725ae477a4bc269344aea0e722881a470e31176
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2458/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.2_0.0_MultiDynamics_arc_11_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2459/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5169a72b7de8f08ca1851b5d23f78886c2c70121
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2459/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.3_0.0_MultiDynamics_arc_12_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_246/meta.json b/RH5_dataset_threads_5000eps/frames/episode_246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c4b158bb4594bba3b0d11d2641ed818b161d3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_246/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.399,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.399_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2460/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1232848474b576a37f48124e88cb99debafb0ddb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2460/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.4_0.0_MultiDynamics_arc_13_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2461/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8335b28d06c8318d0d4b522514763131f24d43a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2461/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.5_0.0_MultiDynamics_arc_14_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2462/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7127b2fc630161e1f7a5d12cda0d7c247e73aada
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2462/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.6_0.0_MultiDynamics_arc_16_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2463/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacd7f028b9e9852b8b4b0b2821cde0789101bf7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2463/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.7_0.0_MultiDynamics_arc_16_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2464/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb97af1f6d8500fc180d3f8728f76b349f101e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2464/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.8_0.0_MultiDynamics_arc_17_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2465/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d39dd4dffeb48a0b3bb4ca4a1478534c4b65b89f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2465/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_1.9_0.0_MultiDynamics_arc_18_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2466/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfffd6ed971aba66e29b9dae48c4b4ddb649349
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2466/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-0.6_0.0_MultiDynamics_arc_5_0.210_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2467/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caf04ead8408e47ecd3130cc8d76c2a4eb34bed6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2467/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.4_2.0_0.0_MultiDynamics_arc_19_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2468/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23dbf8e3e96c5ed736e4985a4f229c0c2330c09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2468/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-0.7_0.0_MultiDynamics_arc_6_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2469/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6672b286c9d21e9bac9016fa0914bac736106172
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2469/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-0.8_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_247/meta.json b/RH5_dataset_threads_5000eps/frames/episode_247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22b85ea629f7b7c56242de2d0d490f754b75eb4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_247/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.465,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.465_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2470/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ca70ae2c5e130a831e04518044f3d3fe62e4f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2470/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-0.9_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2471/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3cae368a632894c70046bde5bbe653b4f8bff8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2471/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.0_0.0_MultiDynamics_arc_9_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2472/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..752cd32c07048ce66fbe38248ec9ee058d0d8fe9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2472/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.1_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2473/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dbb1bff65878f9e6bb033783ef2d92716690009
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2473/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.2_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2474/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fe0fb2039ba2b0301fa9c9aed0909399555cdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2474/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.3_0.0_MultiDynamics_arc_12_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2475/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..712d7c59c43da710cf8af72ce6daff497260e560
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2475/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.4_0.0_MultiDynamics_arc_13_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2476/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5416658a8e92fb631904dc980e7da9c439a09b51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2476/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.5_0.0_MultiDynamics_arc_14_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2477/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a30a03bedd18146d00ce93d7802a949189ba2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2477/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.6_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2478/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29f6b3139315f6f1e63b826c996c484b527ce4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2478/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.7_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2479/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51000676b0a02f67c26cfeb9294bf7c98052899e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2479/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.8_0.0_MultiDynamics_arc_17_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_248/meta.json b/RH5_dataset_threads_5000eps/frames/episode_248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b20687c9962c44d9f2284bb4267b26cc477cc8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_248/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.515,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.515_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2480/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e94279b6dd61f83b730f2e9040f69f4b9639730
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2480/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-1.9_0.0_MultiDynamics_arc_18_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2481/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a598e2bf343635d041b3e24981ad7064608647
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2481/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_0.6_0.0_MultiDynamics_arc_5_0.210_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2482/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba95c77cf7b2383cecd2db5b81a2ada6b858904
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2482/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_-2.0_0.0_MultiDynamics_arc_19_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2483/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62be27a00c7c9ab6e8d174975e96f86c19bc9137
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2483/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_0.7_0.0_MultiDynamics_arc_6_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2484/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1907ec21769e2295891ebb0b1bb680e4eda19357
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2484/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_0.8_0.0_MultiDynamics_arc_8_0.131_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2485/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb4667c412193a8300553e51a31df11b0580254
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2485/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_0.9_0.0_MultiDynamics_arc_8_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2486/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..925fb9870ea85fa2625093bdf2a6828682b8ad23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2486/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.0_0.0_MultiDynamics_arc_9_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2487/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82ca29cd48faefb54536dceb8883af5a02cba5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2487/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.1_0.0_MultiDynamics_arc_11_0.095_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2488/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ac8cf774d63c471b4c2d48b679d160429f0f29c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2488/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.2_0.0_MultiDynamics_arc_11_0.095_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2489/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded312ed29b30091a2e0091e8393353c0df90847
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2489/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.3_0.0_MultiDynamics_arc_12_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_249/meta.json b/RH5_dataset_threads_5000eps/frames/episode_249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1b6087e3a65a52d95cf9d2471cb09ee6e32229
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_249/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.565,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.565_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2490/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..610e55e0cf1e077f557c26e109154a7f125de834
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2490/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.4_0.0_MultiDynamics_arc_13_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2491/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95827387869f11865f5a529ab49667eca9f4d1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2491/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.5_0.0_MultiDynamics_arc_14_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2492/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb6657a039b217d789d16dbd0ad8614a8e76828
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2492/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.6_0.0_MultiDynamics_arc_16_0.066_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2493/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab73e0436a6a66bb3050bb6eebb94170b99dd12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2493/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.7_0.0_MultiDynamics_arc_16_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2494/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5b420a31d1c977bc70cb82027934ff202f123b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2494/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.8_0.0_MultiDynamics_arc_17_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2495/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bf37bf5a619ae5b17908b8af61783472854a376
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2495/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_1.9_0.0_MultiDynamics_arc_18_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2496/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f6bf5393b7e77eab0cd06110c03b8775ddb026
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2496/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-0.6_0.0_MultiDynamics_arc_5_0.230_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2497/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aaed7c50734a5ab12790930cd9d38470db8ec8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2497/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.5_2.0_0.0_MultiDynamics_arc_19_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2498/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fd15e29a2ded0d2d1d5f773762ba7253a60d3ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2498/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-0.7_0.0_MultiDynamics_arc_6_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2499/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f7e237233d4d6369a899a5a977dfee2a59bb27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2499/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-0.8_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_25/meta.json b/RH5_dataset_threads_5000eps/frames/episode_25/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d976bf6de9e3944a56e80d73c27f8bc9e70d8006
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_25/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.2_0.0_0.0_MultiDynamics_5_0.536_0.062_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_250/meta.json b/RH5_dataset_threads_5000eps/frames/episode_250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47f29261a66d5b575aa62d50705b07d1950fe0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_250/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.615,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.615_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2500/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a953129d622b8f276c66f5388390c2e163694c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2500/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-0.9_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2501/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f8244db7754f6f0db50cc46d0f2480066aac50
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2501/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.0_0.0_MultiDynamics_arc_9_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2502/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..349934e9ee937342cdb71179ffe046b01a389613
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2502/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.1_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2503/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4310c634f818b182db2baeb295d2552275d33a6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2503/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.2_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2504/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24cc49458c5c2647158081b564d505e3d7e3ebce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2504/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.3_0.0_MultiDynamics_arc_12_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2505/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d9402113b8abb2d0548d1ab2df9229c62102c87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2505/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.4_0.0_MultiDynamics_arc_13_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2506/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9227737914e47b217272abecaab1773d512c45a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2506/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.5_0.0_MultiDynamics_arc_14_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2507/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb7d253a3e273dbc801549fad0385ad22987f11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2507/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.6_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2508/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f9a660219070ca39fce07fe7dc08d9f92aa8131
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2508/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.7_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2509/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7872e55a1f0473062eaab8d25759a3d6b6281d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2509/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.8_0.0_MultiDynamics_arc_17_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_251/meta.json b/RH5_dataset_threads_5000eps/frames/episode_251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..010a1b8273c685a7cbfdd6cdc943723b6c9d216e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_251/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.433:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.433,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 1.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_1.9_0.0_0.0_MultiDynamics_3_0.433_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2510/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb78a8c5b14c3834f6fb2f5473ddcafd69a6d6fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2510/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-1.9_0.0_MultiDynamics_arc_18_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2511/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6bffb58bd654ddc4a725b58ccc86561384a5101
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2511/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_0.6_0.0_MultiDynamics_arc_5_0.230_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2512/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..291636a1af1204e37414fa82b297353e52004f5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2512/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_-2.0_0.0_MultiDynamics_arc_19_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2513/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a18a47f1817b3b89be12054c2974578fcf4b5c65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2513/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_0.7_0.0_MultiDynamics_arc_6_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2514/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b99ed37da38a03510634565b1da6c19978c59ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2514/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_0.8_0.0_MultiDynamics_arc_8_0.144_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2515/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c803bf9ef0abf49f1e345f3aee5504acfa9f405
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2515/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_0.9_0.0_MultiDynamics_arc_8_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2516/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb5422f106311743f8fe88abb5b68745d0c81e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2516/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.0_0.0_MultiDynamics_arc_9_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2517/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..466f7d113c698ad3c79f81a576e4fa4c9acb9d32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2517/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.1_0.0_MultiDynamics_arc_11_0.105_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2518/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76521c31bab81667c20a59a963235675277ed336
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2518/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.2_0.0_MultiDynamics_arc_11_0.105_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2519/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb73356fdb715b6b92b5882523159ab6034972a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2519/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.3_0.0_MultiDynamics_arc_12_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_252/meta.json b/RH5_dataset_threads_5000eps/frames/episode_252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb44ef9c258ed71a54e9da7d08224a78d46daacc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_252/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.466,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.466_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2520/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..817b9598bcbfa321b98425688364800a8ae01def
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2520/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.4_0.0_MultiDynamics_arc_13_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2521/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af5056709ad194b916c83412a3794a5467425e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2521/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.5_0.0_MultiDynamics_arc_14_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2522/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08e04fbb22952d2ce983ddf7455af096e57d949
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2522/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.6_0.0_MultiDynamics_arc_16_0.072_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2523/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7b29c0332515f0694a980d630d7304b6334d4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2523/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.7_0.0_MultiDynamics_arc_16_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2524/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef58ff4d6a9ba88f2b2aadbdee447063abfd3e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2524/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.8_0.0_MultiDynamics_arc_17_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2525/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3603e75d029c01d11747ea759305be0b852aa3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2525/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_1.9_0.0_MultiDynamics_arc_18_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2526/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad2b72d2aefc29afa4aafbcad4ed3f9cac600b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2526/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-0.6_0.0_MultiDynamics_arc_5_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2527/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eaf1e0f2f4e219ad17e1cc1b96abd1d3caad83d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2527/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.6_2.0_0.0_MultiDynamics_arc_19_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2528/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b1ca9c61dba238c5880370be48dac7d890802
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2528/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-0.7_0.0_MultiDynamics_arc_6_0.208_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2529/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..791e821ced838fd7493efc59f69b1ddacb3e6baf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2529/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-0.8_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_253/meta.json b/RH5_dataset_threads_5000eps/frames/episode_253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ab1283e7072389e20e1a8b8bd0f5885efaaad34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_253/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.499,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.1_0.0_0.0_MultiDynamics_3_0.499_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2530/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f626f6a7046a32e9c30687b06e39194cdd0a4068
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2530/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-0.9_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2531/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de5b65f13663e95cf3a9515b23e3b4a9180f2d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2531/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.0_0.0_MultiDynamics_arc_9_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2532/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec5ff64c10c33f775cc57579b6f886e49384b871
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2532/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.1_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2533/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5cb5f0c8976f492fcdea85ad6e4e341bc037d87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2533/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.2_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2534/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7652c0244422d259d517735f9de386b389e29a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2534/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.3_0.0_MultiDynamics_arc_12_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2535/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f865b1c646cedd274cc2002646e73187d5617794
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2535/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.4_0.0_MultiDynamics_arc_13_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2536/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2082a46b9ca85cf430a982a2e7c684c9ea0072cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2536/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.5_0.0_MultiDynamics_arc_14_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2537/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e2c39d9ae7f8aec51fccd29275642e53688148
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2537/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.6_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2538/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37054b7edad3a762c14f4ec78068aef79795a8a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2538/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.7_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2539/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50aff97dd8a1e99e037d39c059ae66266784b3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2539/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.8_0.0_MultiDynamics_arc_17_0.074_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_254/meta.json b/RH5_dataset_threads_5000eps/frames/episode_254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc41c59d8aadc5e6a723304e02fd712ed7e5871
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_254/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.533:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.533,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.2_0.0_0.0_MultiDynamics_3_0.533_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2540/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3f98f0e7f9ceb96cf335b56bf26392766a1c788
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2540/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-1.9_0.0_MultiDynamics_arc_18_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2541/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b339065fef678873bde16f2f49bb29239949231
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2541/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_0.6_0.0_MultiDynamics_arc_5_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2542/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b55e358aad15215726d4ed452e7c6c406bd4b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2542/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_-2.0_0.0_MultiDynamics_arc_19_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2543/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1d53ef7d2a57ea8121313fab466239ee688427
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2543/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_0.7_0.0_MultiDynamics_arc_6_0.208_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2544/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..232e57354b509cc308b82b6f492a380818ee0250
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2544/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_0.8_0.0_MultiDynamics_arc_8_0.156_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2545/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e874dbb7057b14216dc98f01f12a5ff9b3a8b47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2545/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_0.9_0.0_MultiDynamics_arc_8_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2546/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c5dd3f101067419fb773ee4c6225c55625047f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2546/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.0_0.0_MultiDynamics_arc_9_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2547/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..517f5677e8713519be21cf712ce8694e197dbe9c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2547/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.1_0.0_MultiDynamics_arc_11_0.114_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2548/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28319b10076fe3ca2a36b5772f12e4e0f081d424
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2548/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.2_0.0_MultiDynamics_arc_11_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2549/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f347f6b5b536a983dccc176a5fc4b3b36ddd32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2549/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.3_0.0_MultiDynamics_arc_12_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_255/meta.json b/RH5_dataset_threads_5000eps/frames/episode_255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09fbcdd291196a504849562b3455cb809b011aee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_255/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.062,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.3_0.0_0.0_MultiDynamics_3_0.566_0.062_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2550/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79262aa643331cbfa654a20dd3fd4bda22b6dce2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2550/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.4_0.0_MultiDynamics_arc_13_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2551/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf059a69b4e9cacd9c14ab8befe3ae9257f2def3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2551/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.5_0.0_MultiDynamics_arc_14_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2552/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..156b33213b6fd32bc1d2dda242d0c4f678c3bb78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2552/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.6_0.0_MultiDynamics_arc_16_0.078_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2553/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8008638b220761530acc9c2d30f80f9813a2ae3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2553/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.7_0.0_MultiDynamics_arc_16_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2554/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ca94a2b5fb396032d93bc707d82720482a472b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2554/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.8_0.0_MultiDynamics_arc_17_0.074_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2555/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54ec4119e7e7daf4bde4bb4b98b4e4763d002348
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2555/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_1.9_0.0_MultiDynamics_arc_18_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2556/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..697b878b12eee2248289891bcd0f0802cfb5aa2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2556/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-0.6_0.0_MultiDynamics_arc_5_0.270_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2557/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac32e63d5c4994a50ca0b4acd6b85cdac52772cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2557/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.7_2.0_0.0_MultiDynamics_arc_19_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2558/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49374957bff739b86450befeaf9584bf0258861d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2558/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-0.7_0.0_MultiDynamics_arc_6_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2559/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc039f8ae4fea3077e7b0867e1eb0b0f82e51b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2559/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-0.8_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_256/meta.json b/RH5_dataset_threads_5000eps/frames/episode_256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f8472fe48c0626a56d2ba7f808e507b40bbf1b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_256/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.062,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.61,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.4_0.0_0.0_MultiDynamics_3_0.610_0.062_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2560/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3e1b6f9c31af60aed8cde7e7ae538854056bb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2560/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-0.9_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2561/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd59d2fb2f1a1b00abacdb843d25c3e8f2173fe0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2561/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.0_0.0_MultiDynamics_arc_9_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2562/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..753ea0147c2a1ab9b10d2d710cb2cf1170ba08b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2562/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.1_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2563/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89fe0a5adcf49c969a383873f17c6d89df03bf7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2563/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.2_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2564/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..544dc54979ea19265523c5ea176f9bd621534c1e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2564/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.3_0.0_MultiDynamics_arc_12_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2565/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22634f3ddd2c6f8e31b128eec82a60080d8c64ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2565/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.4_0.0_MultiDynamics_arc_13_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2566/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1feb9f92e053e3c986654fcd5a4b6c6cee753bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2566/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.5_0.0_MultiDynamics_arc_14_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2567/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d199f911c5e4358894b0978b39af78b883acf0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2567/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.6_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2568/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f18c292a6c057c913b950901614270313a7dcf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2568/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.7_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2569/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf40ac5661e2239ddefd107ff39696ff9f70a44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2569/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.8_0.0_MultiDynamics_arc_17_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_257/meta.json b/RH5_dataset_threads_5000eps/frames/episode_257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9d69faefaaeedaeab5187928edf9e479a2cb5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_257/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.482,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.5_0.0_0.0_MultiDynamics_4_0.482_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2570/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9474fe41bb36da526da39290380507edb8d6aa3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2570/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-1.9_0.0_MultiDynamics_arc_18_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2571/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f210e3f756f4307db24469a59c79f8a85ae03f2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2571/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_0.6_0.0_MultiDynamics_arc_5_0.270_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2572/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1757e4069eabcfa06a9855ca9a916c3ae1f5261
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2572/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_-2.0_0.0_MultiDynamics_arc_19_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2573/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f1707569cf52ddd6f9ebcafb2f0725fec1a458d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2573/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_0.7_0.0_MultiDynamics_arc_6_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2574/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0929acd8279196fc8c246118827d7d4f9fc43f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2574/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_0.8_0.0_MultiDynamics_arc_8_0.169_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2575/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4695837339c44f58635a8978ec8839e1d97745ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2575/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_0.9_0.0_MultiDynamics_arc_8_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2576/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f5aa12684b6b02d5a835342b7b06189b32ce4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2576/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.0_0.0_MultiDynamics_arc_9_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2577/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6786dfafd45a7333a8efec29bbaa73a245497880
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2577/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.1_0.0_MultiDynamics_arc_11_0.123_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2578/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b453c5120361b93f085e49adb9b6fff57e54820
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2578/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.2_0.0_MultiDynamics_arc_11_0.123_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2579/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a64311c2735914fc155488761bfe5b328d846b3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2579/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.3_0.0_MultiDynamics_arc_12_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_258/meta.json b/RH5_dataset_threads_5000eps/frames/episode_258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39dcb2212855cc3da066c1f60cd6998fa0e90083
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_258/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.508,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2580/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90f15590e3d82a352592d7fb9bb60dcebb9d9c1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2580/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.4_0.0_MultiDynamics_arc_13_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2581/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29da55a31e875604f7752c252de5f64664b76474
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2581/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.5_0.0_MultiDynamics_arc_14_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2582/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb4eaf39052bc6cbab37ac13427ea4763324b9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2582/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.6_0.0_MultiDynamics_arc_16_0.084_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2583/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67179539c0b3594db7fecdd47701484ee33cfc55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2583/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.7_0.0_MultiDynamics_arc_16_0.084_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2584/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b82f85b2f0ece56da39c57c9e24e3de5d27aa79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2584/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.8_0.0_MultiDynamics_arc_17_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2585/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6b3bdaee8fca87da18645873338d7590734ae4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2585/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_1.9_0.0_MultiDynamics_arc_18_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2586/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3f25a04642cc21aaef08990652c5d3427a7af4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2586/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-0.6_0.0_MultiDynamics_arc_5_0.290_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2587/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b9dc9b148881cf24d32a2050fd957ef3004127
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2587/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.8_2.0_0.0_MultiDynamics_arc_19_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2588/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edd0b6e0b39b8efe33c33e3dd66bca88e52181e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2588/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-0.7_0.0_MultiDynamics_arc_6_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2589/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79832e4e96362d16f4a48de8c66433f6dfbb3f43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2589/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-0.8_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_259/meta.json b/RH5_dataset_threads_5000eps/frames/episode_259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c71541000e0526d81a5beb965d34ee23b944666
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_259/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.532,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.7_0.0_0.0_MultiDynamics_4_0.532_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2590/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6071687a5d450c7663f12cbeb19b5d7fdc008c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2590/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-0.9_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2591/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad61df3c76b1f92566edc55454992db0cdb2d661
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2591/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.0_0.0_MultiDynamics_arc_9_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2592/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3821323e9e0987a3f924a930c98ab9457b5fd13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2592/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.1_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2593/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9886068d00393ee59111704d52df206a766fe0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2593/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.2_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2594/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd2a3d916615365578df42a928bc9c4b067ebdf9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2594/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.3_0.0_MultiDynamics_arc_12_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2595/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0edf885b2071686120ac323de383b167ec01025e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2595/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.4_0.0_MultiDynamics_arc_13_0.112_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2596/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..272cf6d13b3dd3e07cb8eb87efa53a51c6bfbd63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2596/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.5_0.0_MultiDynamics_arc_14_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2597/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9829dcf21c6b9d15dac6dbf769bfc02e95d5db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2597/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.6_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2598/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..827efb364d93f9e6bda7ec0c05d536bb38c6d4d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2598/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.7_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2599/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4db93b9d56104ac315dfa101f7abba8a201a1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2599/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.8_0.0_MultiDynamics_arc_17_0.085_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_26/meta.json b/RH5_dataset_threads_5000eps/frames/episode_26/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..386c9cf2c24f8b8a36f7cff88185fe79846c1d9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_26/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.6_0.0_0.0_MultiDynamics_5_0.614_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_260/meta.json b/RH5_dataset_threads_5000eps/frames/episode_260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62836efb54dc44919deaabb7f605c5ef210cdd3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_260/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.557,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.8_0.0_0.0_MultiDynamics_4_0.557_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2600/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e374c5ebdd7cb2e3114f0ce2af409e6ea95d672c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2600/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-1.9_0.0_MultiDynamics_arc_18_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2601/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd652c5df43c4b8688d5dcf88e5825511dcce06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2601/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (1.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_0.6_0.0_MultiDynamics_arc_5_0.290_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2602/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe43ccf3e3f340d65ca7577a22ec7a25397c3e1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2602/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_-2.0_0.0_MultiDynamics_arc_19_0.076_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2603/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8080a95fd03b8af665ad50e387e8584201515
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2603/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (1.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_0.7_0.0_MultiDynamics_arc_6_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2604/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c48303241900a55383b0d5315ea5d026b1f20d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2604/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_0.8_0.0_MultiDynamics_arc_8_0.181_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2605/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22d84d64f0844e85c0e1b3d085af4c1b1aaddd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2605/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (1.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_0.9_0.0_MultiDynamics_arc_8_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2606/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..098fd3689cbe3d8456f2fe908c60fd5ea6df53d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2606/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (1.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.0_0.0_MultiDynamics_arc_9_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2607/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2140c255fd9c5e0b47b16a6759f6b0ba0dd700c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2607/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.1_0.0_MultiDynamics_arc_11_0.132_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2608/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d362cdb77ec83e7a7a2ab5a75b1e6d955806bc0e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2608/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (1.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.2_0.0_MultiDynamics_arc_11_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2609/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff2524f9706805205b7856d808e4f4ad89289bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2609/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (1.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.3_0.0_MultiDynamics_arc_12_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_261/meta.json b/RH5_dataset_threads_5000eps/frames/episode_261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7abe564c07186550ab9e4a68885be7af6b041a6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_261/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.062,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_2.9_0.0_0.0_MultiDynamics_4_0.583_0.062_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2610/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf02c35bef3749e2ca6f0445b6b987950aeb51b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2610/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (1.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.4_0.0_MultiDynamics_arc_13_0.112_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2611/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f982456b9cf54f32c27e378a09f3448cb87a019d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2611/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (1.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.5_0.0_MultiDynamics_arc_14_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2612/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..022f66592d27b39bfc5420b0e0e9aed1aba26eaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2612/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.6_0.0_MultiDynamics_arc_16_0.091_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2613/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b4ca5db0349ce07e6ed54559a822acbf32deab7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2613/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (1.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.7_0.0_MultiDynamics_arc_16_0.091_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2614/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cd256a9dcb38ca3bcf104e83ed84d3cffe0f39
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2614/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (1.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.8_0.0_MultiDynamics_arc_17_0.085_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2615/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2cd63e2f8375737c2078994ba38c0583fa6abc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2615/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (1.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_1.9_0.0_MultiDynamics_arc_18_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2616/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3a3ce456062f5e71cc578604c154791421eaad2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2616/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-0.6_0.0_MultiDynamics_arc_5_0.310_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2617/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4db8ef36db5d1a7898a9ad0375d99faf27af116
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2617/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (1.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_1.9_2.0_0.0_MultiDynamics_arc_19_0.076_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2618/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e2cc06e457c58e65b4a2d3636d6f680ded0938
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2618/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-0.7_0.0_MultiDynamics_arc_6_0.258_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2619/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b3f47a422c22210cfc42445a1973f050b8a52a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2619/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-0.8_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_262/meta.json b/RH5_dataset_threads_5000eps/frames/episode_262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ceeab6fd528a6ab669a759d12a25612af13cfc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_262/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.607,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.0_0.0_0.0_MultiDynamics_4_0.607_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2620/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64fb586e367d35a4a3943513bff9de804ca71837
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2620/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-0.9_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2621/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0cac3cbf60faad8565f8d8199ff8e1b037bbfdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2621/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.0_0.0_MultiDynamics_arc_9_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2622/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c6af452af8989189355de646f564b5711212a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2622/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.1_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2623/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee5b815fcaa52a7fb3329c84afc08411ab64c2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2623/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.2_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2624/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a95a98066d3af71be674ba3a46a5492851def5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2624/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.3_0.0_MultiDynamics_arc_12_0.129_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2625/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2be326a531362421b15fe20161d7a7950ce2fd9b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2625/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.4_0.0_MultiDynamics_arc_13_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2626/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c991027c7d74fe92d3f42d5b9efb556142efa656
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2626/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.5_0.0_MultiDynamics_arc_14_0.111_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2627/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4a9b87f31e6f8a39dd553c671f8c9528c54c81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2627/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.6_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2628/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e947aeb6e4e3a8c5faa239a4ab2912cc2d2cd34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2628/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.7_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2629/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..732070d98ed5654d293ee3de5fb91534cac058fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2629/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.8_0.0_MultiDynamics_arc_17_0.091_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_263/meta.json b/RH5_dataset_threads_5000eps/frames/episode_263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d57ddb30f1b85f7c671f37d87c97123daab8ee0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_263/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.506:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.506,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.1_0.0_0.0_MultiDynamics_5_0.506_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2630/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3007a2c064e8ff51d228e706615f4432dc6be11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2630/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-1.9_0.0_MultiDynamics_arc_18_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2631/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec3d63c88fdb1c0d95b62f11a77711c7451a390
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2631/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_0.6_0.0_MultiDynamics_arc_5_0.310_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2632/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e9b868c75861efce8bbec35c65575b8d2433e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2632/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_-2.0_0.0_MultiDynamics_arc_19_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2633/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f949b84b9e5bfdb173ec9781bad8a80a26d95794
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2633/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_0.7_0.0_MultiDynamics_arc_6_0.258_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2634/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85d6e03ecdca10024315ce28571ec57b770a450d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2634/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_0.8_0.0_MultiDynamics_arc_8_0.194_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2635/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8500aa9fbe2fbea8da0e6faf1c6d471d60992f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2635/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_0.9_0.0_MultiDynamics_arc_8_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2636/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf89b26a88dcc724647ee2ea1541c1b1de7da2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2636/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.0_0.0_MultiDynamics_arc_9_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2637/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2caef865fa00fa6ca2f00793ebd6aea57d7451a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2637/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.1_0.0_MultiDynamics_arc_11_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2638/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6a9fbffa4c6229fe3936aa618135f04a735859
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2638/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.2_0.0_MultiDynamics_arc_11_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2639/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df63d7de52bbd777ac73bcf534140aafc6812b12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2639/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.3_0.0_MultiDynamics_arc_12_0.129_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_264/meta.json b/RH5_dataset_threads_5000eps/frames/episode_264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3286683b06db959b288e87d4b263f4e918eaf102
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_264/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.526:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.526,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.2_0.0_0.0_MultiDynamics_5_0.526_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2640/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c20cb4bcac6d7e2af00408cf798743e76bf96e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2640/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.4_0.0_MultiDynamics_arc_13_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2641/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e53be9769ffc07e8503abb7280c9627ea1f5b9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2641/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.5_0.0_MultiDynamics_arc_14_0.111_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2642/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1855847e998d76c0c5dde05518bfc023601499
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2642/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.6_0.0_MultiDynamics_arc_16_0.097_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2643/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..502c14897acaf261abb41656babaf38e28185780
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2643/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.7_0.0_MultiDynamics_arc_16_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2644/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d481167e9dafbfa5907cb46baf271fbfc0c0e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2644/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.8_0.0_MultiDynamics_arc_17_0.091_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2645/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61cdf44c5adf4d63a23c974e2741378857dda499
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2645/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_1.9_0.0_MultiDynamics_arc_18_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2646/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..629682f3f31795b4f2589f0194276b2fcc37c468
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2646/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-0.6_0.0_MultiDynamics_arc_5_0.330_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2647/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c8be833a3d56bf4a5e99d468deb8be32b70078
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2647/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.0_2.0_0.0_MultiDynamics_arc_19_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2648/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e3422d52b369370ec7049a8d85db08c16a4574
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2648/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-0.7_0.0_MultiDynamics_arc_6_0.275_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2649/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04dfe9e2ebc318fa2ac474b2465b3ae941f008b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2649/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-0.8_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_265/meta.json b/RH5_dataset_threads_5000eps/frames/episode_265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..601056450d7089caf8d7b5087c1edd201528ac0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_265/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.546:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.546,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.3_0.0_0.0_MultiDynamics_5_0.546_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2650/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f464c46bdf275fec3714c768e04200741b4731e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2650/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-0.9_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2651/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce3fd993d1c09fe30dc3b00aad7d6ee7e20fd40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2651/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.0_0.0_MultiDynamics_arc_9_0.183_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2652/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7aeb7ff64d946a6fa1bda97bc042a704b2b0d8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2652/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.1_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2653/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97557d945ae36bdf32e8a6ba59b0493deba78c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2653/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.2_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2654/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f825d3a0047470799673654a6a99cac4458ac08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2654/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.3_0.0_MultiDynamics_arc_12_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2655/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8eee682a7e715bbf23be6f6069ca78a985045ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2655/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.4_0.0_MultiDynamics_arc_13_0.127_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2656/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c2f01c21d05076ed60826377551b9a43220491
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2656/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.5_0.0_MultiDynamics_arc_14_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2657/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..916075049737d9d842edb11580160e06b2a78886
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2657/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.6_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2658/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab58bc83206f39af349f5d169a802efc07cdbf1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2658/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.7_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2659/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb29b98ed1e57fa99471b8ba7d961dcd41edd8db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2659/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.8_0.0_MultiDynamics_arc_17_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_266/meta.json b/RH5_dataset_threads_5000eps/frames/episode_266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7126d659156ae60a9f620eebfca75da62be2811
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_266/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.4_0.0_0.0_MultiDynamics_5_0.566_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2660/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..587a3249b6d37a28fa4d393b1a6985dde7c39dd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2660/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-1.9_0.0_MultiDynamics_arc_18_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2661/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da856d65835466161f00c869ad7dcfa47188cf5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2661/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_0.6_0.0_MultiDynamics_arc_5_0.330_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2662/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..075701e1fd8c755301654f8db632edac0f6509ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2662/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_-2.0_0.0_MultiDynamics_arc_19_0.087_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2663/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd5cf6b1ec26606181c1ad0a505d545468445f67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2663/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_0.7_0.0_MultiDynamics_arc_6_0.275_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2664/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e7f15d9a1289197a8c37b7f5f1f574baddcd40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2664/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_0.8_0.0_MultiDynamics_arc_8_0.206_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2665/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..032853cd09a4d43fc14fe2777aa0443e18c1734c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2665/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_0.9_0.0_MultiDynamics_arc_8_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2666/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f8dda758333795f6de792d7808515fbd3f8c4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2666/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.0_0.0_MultiDynamics_arc_9_0.183_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2667/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa45353ba54f11e901e837d05559bd9a621ce94
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2667/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.1_0.0_MultiDynamics_arc_11_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2668/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad22ab388b327cc6d2acc9dbb22d009ab45f2a4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2668/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.2_0.0_MultiDynamics_arc_11_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2669/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf68175a1f3efa832801b6a57e6f752f4e8571f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2669/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.3_0.0_MultiDynamics_arc_12_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_267/meta.json b/RH5_dataset_threads_5000eps/frames/episode_267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5760b1116d31dc3d62122616e413ad8f22380906
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_267/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.586,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.5_0.0_0.0_MultiDynamics_5_0.586_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2670/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd290f6fd7fcba0460b74dc5d3f011f44783989
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2670/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.4_0.0_MultiDynamics_arc_13_0.127_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2671/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c47da0301f4fd82ce7406e8444d8c8d8e3b45a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2671/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.5_0.0_MultiDynamics_arc_14_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2672/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a777704192c7a3e097459d19bb2132b8797c9af7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2672/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.6_0.0_MultiDynamics_arc_16_0.103_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2673/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc91b96f125c405f853897e44fbd3befe962e82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2673/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.7_0.0_MultiDynamics_arc_16_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2674/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c7fc5f085589d14caa5158e6e75e72a61e5d5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2674/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.8_0.0_MultiDynamics_arc_17_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2675/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..973912043b4b8084ffdddf8fa5759dbed27ccade
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2675/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_1.9_0.0_MultiDynamics_arc_18_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2676/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a77b18157f84f0074cb3a638a73fae15a0399a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2676/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-0.6_0.0_MultiDynamics_arc_5_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2677/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2088a55947a0c027f22256ad176ca2ad21378d2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2677/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.1_2.0_0.0_MultiDynamics_arc_19_0.087_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2678/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5570339bcdd7e9b6cc7c6612fcda55922b5191d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2678/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-0.7_0.0_MultiDynamics_arc_6_0.292_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2679/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2190007b7adbf92a042a04f8cf43ced3bfee0e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2679/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-0.8_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_268/meta.json b/RH5_dataset_threads_5000eps/frames/episode_268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de9240c3c11434463256c8bcefb79adf9e6ba5f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_268/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.606,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.6_0.0_0.0_MultiDynamics_5_0.606_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2680/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1893cb5b2bf21297a1e239b75537b7c557c7638a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2680/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-0.9_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2681/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12af91b38aa2a4784935b32fdac3868774591be0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2681/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.0_0.0_MultiDynamics_arc_9_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2682/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d3a78066bae03671f5616f09a3f452ec3067b2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2682/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.1_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2683/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19382e36097b7a2dd3f14bbbf46a2296a0a31d76
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2683/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.2_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2684/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb55ee620f3cd5866dbf73a43866a3c88841e872
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2684/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.3_0.0_MultiDynamics_arc_12_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2685/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8626307c3c8952063a3e6d6f56dca107f5e7ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2685/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.4_0.0_MultiDynamics_arc_13_0.135_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2686/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78bfcaadc622e6886c27330db326322a351d0f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2686/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.5_0.0_MultiDynamics_arc_14_0.125_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2687/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..421edca0cf818a9e5c0f4cc37d560839bf7d8003
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2687/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.6_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2688/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae735cfcbdf5661ac3b88647f3c147a10583536
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2688/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.7_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2689/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bedeb784a7237bef9fc8d718a23f8cf6027c75f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2689/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.8_0.0_MultiDynamics_arc_17_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_269/meta.json b/RH5_dataset_threads_5000eps/frames/episode_269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8f4416fb0b27500d327245850a1bc7cc007d1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_269/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.062,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.626,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.7_0.0_0.0_MultiDynamics_5_0.626_0.062_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2690/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5305846922fcb083d3aa85eab02b28796fd2a351
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2690/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-1.9_0.0_MultiDynamics_arc_18_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2691/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f127ca250713e536cf11354a0e2386c53cc77ae5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2691/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_0.6_0.0_MultiDynamics_arc_5_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2692/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6448656778acc7b62d3168b8bff0da360a15b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2692/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_-2.0_0.0_MultiDynamics_arc_19_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2693/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f78a9b6db79a71f1ed72ed21d42c2c50a04203
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2693/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_0.7_0.0_MultiDynamics_arc_6_0.292_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2694/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af98401f089da3f39ff000e8344c457825f710fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2694/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_0.8_0.0_MultiDynamics_arc_8_0.219_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2695/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f6abdab99588b668bbb00738b66afcd449af2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2695/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_0.9_0.0_MultiDynamics_arc_8_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2696/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83281f123f62e9fee92b889bba7f0e1c692b5d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2696/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.0_0.0_MultiDynamics_arc_9_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2697/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e54cd71280ff16987cf43e0302b186f045818b7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2697/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.1_0.0_MultiDynamics_arc_11_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2698/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4310f769a7cc8c73498b6c941ec5eb1a6c06d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2698/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.2_0.0_MultiDynamics_arc_11_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2699/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a09b89d8b6dbf80ba954c2b51a9f4b555bb0c40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2699/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.3_0.0_MultiDynamics_arc_12_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_27/meta.json b/RH5_dataset_threads_5000eps/frames/episode_27/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a4371da220c44d103d3374bd7e9f3e7423ba32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_27/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.1_0.0_0.0_MultiDynamics_5_0.508_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_270/meta.json b/RH5_dataset_threads_5000eps/frames/episode_270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9ae241ac11b3b9c20b8d6b58a200653659944a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_270/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.538,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.8_0.0_0.0_MultiDynamics_6_0.538_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2700/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8305994c86573ff4102dd70e4b7300ce1850ff3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2700/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.4_0.0_MultiDynamics_arc_13_0.135_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2701/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8761d55cf4e3fe78b5e0613324de9015aa8f45a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2701/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.5_0.0_MultiDynamics_arc_14_0.125_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2702/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7279ba4992d88e5f39d5e715542c6c8c26791a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2702/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.6_0.0_MultiDynamics_arc_16_0.109_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2703/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7ecdc38e14b6aae7a0c9d16347ab81e10b1bb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2703/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.7_0.0_MultiDynamics_arc_16_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2704/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b891b2e1306ee8dae3e582a9d7de9c15a9ea62de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2704/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.8_0.0_MultiDynamics_arc_17_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2705/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee02253ffe6d66ebe343fbd479b6c07db26ba653
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2705/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_1.9_0.0_MultiDynamics_arc_18_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2706/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc97d65827a5a84111303fe6f685aaa54ca3a9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2706/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-0.6_0.0_MultiDynamics_arc_5_0.370_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2707/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..668acdd5d48185eb2f7fa1a30fa89ffcb285e903
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2707/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.2_2.0_0.0_MultiDynamics_arc_19_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2708/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa94ace528de3c335d3df6185147a155bdfc61fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2708/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-0.7_0.0_MultiDynamics_arc_6_0.308_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2709/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f37f335e1286ffa0d173c4cbfaeda7c4fedddc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2709/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-0.8_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_271/meta.json b/RH5_dataset_threads_5000eps/frames/episode_271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..689ff6fd07cfde3cc12e2d716ffa323f9239bf01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_271/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.555:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.555,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_3.9_0.0_0.0_MultiDynamics_6_0.555_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2710/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b9f52b37f78652714ba52340be9f9a7ea8c234
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2710/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-0.9_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2711/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af66ef503f63a989c447a86e4edb44405b7eb678
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2711/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.0_0.0_MultiDynamics_arc_9_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2712/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8574d948f97077cc4d576b777a93515c6087951e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2712/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.1_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2713/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff16cde87323d13322039f9e868ee16f3e72c5eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2713/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.2_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2714/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d657412c02b2c09b04ed544635b4215f84be1ba1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2714/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.3_0.0_MultiDynamics_arc_12_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2715/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..970a3f5b1e8d31eecf6e65bed6139d274c95c57e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2715/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.4_0.0_MultiDynamics_arc_13_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2716/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53c0d89b2d4adf9239f61aae847416ab92e5c84a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2716/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.5_0.0_MultiDynamics_arc_14_0.132_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2717/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ffb6e4d2ac42969923b3428922056b59754f0c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2717/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.6_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2718/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2716435b4b9b4dd4fa5364d9d56ebf6606e37a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2718/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.7_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2719/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94ad2b6b0cc1c7f7e54ea16f33c8a67af951518b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2719/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.8_0.0_MultiDynamics_arc_17_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_272/meta.json b/RH5_dataset_threads_5000eps/frames/episode_272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd5ca5bbbb8c2d2c8d5ebcd8c730fc893c582fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_272/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.572,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/red_4.0_0.0_0.0_MultiDynamics_6_0.572_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2720/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f22f6cc9d9b7269a0b1f67ac6b1bfd5487a054e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2720/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-1.9_0.0_MultiDynamics_arc_18_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2721/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbdf7da434504ebe0f6814431223feb01fc1c048
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2721/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_0.6_0.0_MultiDynamics_arc_5_0.370_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2722/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0af2ef9a871c22e8cabdf02d18e6ecde39cd6e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2722/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_-2.0_0.0_MultiDynamics_arc_19_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2723/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73dc32b7e70d55770cddf6556eb9f50804406bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2723/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_0.7_0.0_MultiDynamics_arc_6_0.308_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2724/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fafb99bc86b573c0176b75689a5b0643cb147ffe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2724/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_0.8_0.0_MultiDynamics_arc_8_0.231_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2725/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b134a10b84916589a431654ef0c812d42208cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2725/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_0.9_0.0_MultiDynamics_arc_8_0.231_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2726/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caf1c1b6d1a1e07854a1f47a41ac792c656f66d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2726/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.0_0.0_MultiDynamics_arc_9_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2727/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d0bfdcfd770c392cff0fdfafc1444d9a13c218b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2727/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.1_0.0_MultiDynamics_arc_11_0.168_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2728/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2edd24a371ac3c32deb77dedf95823697bdfd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2728/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.2_0.0_MultiDynamics_arc_11_0.168_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2729/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba197ce42eae9aa0b3c9517399ffc4d592bb72b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2729/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.3_0.0_MultiDynamics_arc_12_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_273/meta.json b/RH5_dataset_threads_5000eps/frames/episode_273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47ec7ec2986ac6c002500e802fadfcf9bd9cbab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_273/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.580:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.1_0.0_0.0_MultiDynamics_1_0.580_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2730/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..124998d2b60d94bf8c5f77339fe0dea71a0f7890
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2730/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.4_0.0_MultiDynamics_arc_13_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2731/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27ff619751db26a3b6029992545ce28405469ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2731/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.5_0.0_MultiDynamics_arc_14_0.132_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2732/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ab0c66c626dbe0309d4e98f9bbb093f6d70bfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2732/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.6_0.0_MultiDynamics_arc_16_0.116_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2733/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2769b23a95ecc64ea2ba4fe463ad248cafdc173d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2733/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.7_0.0_MultiDynamics_arc_16_0.116_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2734/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbac083b1fd644a4149c452625737e3eb5c64752
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2734/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.8_0.0_MultiDynamics_arc_17_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2735/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1088e6b15ce006967065c655fdd07674076638bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2735/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_1.9_0.0_MultiDynamics_arc_18_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2736/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..458cb5a2043a2d33d352644ee6238b5ed0f031e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2736/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-0.6_0.0_MultiDynamics_arc_5_0.390_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2737/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11dca50ac27919d2f8e22245df8bd65c7f70c91
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2737/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.3_2.0_0.0_MultiDynamics_arc_19_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2738/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8657f3b60f6add6ff2e4dc29880901a401bbcaf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2738/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-0.7_0.0_MultiDynamics_arc_6_0.325_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2739/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..899bd333f1a2de98b17a5935cd972d4311493043
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2739/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-0.8_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_274/meta.json b/RH5_dataset_threads_5000eps/frames/episode_274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d618097f7dec9704fc434e50637909970e571867
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_274/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.680:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.68,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.2_0.0_0.0_MultiDynamics_1_0.680_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2740/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82426f9faa84b94dd02d947a9d820c25366a1085
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2740/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-0.9_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2741/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..becfebfc800f780f38f2a9ff8e9656729d1ad368
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2741/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.0_0.0_MultiDynamics_arc_9_0.217_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2742/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c0b3b096546f1bdcfb0743e184a8ade9efab70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2742/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.1_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2743/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..feac70b3ba498a99a734ded7c1a2c1427239fa43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2743/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.2_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2744/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1354f14d76542bff42f373832240dfed7c2185fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2744/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.3_0.0_MultiDynamics_arc_12_0.163_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2745/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7a0cc4ab8bd76faf19ccf9e44f52f661ff2064e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2745/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.4_0.0_MultiDynamics_arc_13_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2746/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77915eb834e78c01cae8e3d7a2adb82b8f08b66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2746/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.5_0.0_MultiDynamics_arc_14_0.139_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2747/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ce1d84cabcec83ee6ab24a6b57f7c3fe999a67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2747/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.6_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2748/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3b524613d870ab8a2bdf427fb8c460764483d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2748/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.7_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2749/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc481c24845824bc43494c96923c1e6f3fa71f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2749/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.8_0.0_MultiDynamics_arc_17_0.115_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_275/meta.json b/RH5_dataset_threads_5000eps/frames/episode_275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56d0c2def8b3e6e92b7093db824509a6ed3e874
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_275/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.698:0.062,MultiDynamics_s:1:0.83:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.698,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 1,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.3_0.0_0.0_MultiDynamics_1_0.698_0.062_MultiDynamics_s_1_0.83_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2750/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd8242f2077a7b4866c4be3054af243a971fa21
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2750/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-1.9_0.0_MultiDynamics_arc_18_0.108_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2751/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebac268e4262696cee1cc791756f1a692313b384
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2751/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_0.6_0.0_MultiDynamics_arc_5_0.390_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2752/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab0b9cb6d5aa8c16996200d4d6c5d2570f7164b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2752/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_-2.0_0.0_MultiDynamics_arc_19_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2753/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd5bf78ead67c00c42790dd6a47f4fcc19f95b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2753/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_0.7_0.0_MultiDynamics_arc_6_0.325_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2754/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b73b7352cd0eb355e41ce961e525519490f8b69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2754/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_0.8_0.0_MultiDynamics_arc_8_0.244_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2755/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e468649d89d20775d7a8813791c6f255bf8dcf3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2755/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_0.9_0.0_MultiDynamics_arc_8_0.244_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2756/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74653298e4984e0202f4047a2b1dabef3bfd7b8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2756/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.0_0.0_MultiDynamics_arc_9_0.217_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2757/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32be8ce8bc7821c4ef176bc7b03aab080d1d2c48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2757/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.1_0.0_MultiDynamics_arc_11_0.177_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2758/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..feebb5f5227306ea3fcccad8337feba1e81d688e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2758/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.2_0.0_MultiDynamics_arc_11_0.177_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2759/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e5c5f4ed0e315a7f9e96a0a9bfda09f8c8b28e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2759/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.3_0.0_MultiDynamics_arc_12_0.163_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_276/meta.json b/RH5_dataset_threads_5000eps/frames/episode_276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d306fd07c05e8327d9193d1433790de667f5ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_276/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.399:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.399,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.4_0.0_0.0_MultiDynamics_2_0.399_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2760/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..337b2ad530dbd454269508ecffb1c128de6998fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2760/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.4_0.0_MultiDynamics_arc_13_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2761/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6051e2c45035996ceb69a68fa5f61a22caac5739
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2761/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.5_0.0_MultiDynamics_arc_14_0.139_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2762/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d4f1aea236676049d1d6e1937769272ddb016e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2762/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.6_0.0_MultiDynamics_arc_16_0.122_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2763/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8cc53773b0752de203c74f0dacc7829476ceb9c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2763/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.7_0.0_MultiDynamics_arc_16_0.122_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2764/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c130d439e6ef87078547a97bbbfef8051844620d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2764/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.8_0.0_MultiDynamics_arc_17_0.115_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2765/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..758094e78eb634c66fbdb7a64116236ad78e107b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2765/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_1.9_0.0_MultiDynamics_arc_18_0.108_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2766/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1e8bdeee42cc1cd7bded037e8393d10d9bb4906
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2766/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-0.6_0.0_MultiDynamics_arc_5_0.410_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2767/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca4789a91f0ab5cde7044b8fdae2952ea689cbbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2767/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.4_2.0_0.0_MultiDynamics_arc_19_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2768/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2aecf2906cccd8b138b07b258b8d7c0a1db21b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2768/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-0.7_0.0_MultiDynamics_arc_6_0.342_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2769/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cda343fa6bc8854027391a141ef25b19d32155
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2769/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-0.8_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_277/meta.json b/RH5_dataset_threads_5000eps/frames/episode_277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..708a271593f541508d5b272306584d3da742dcda
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_277/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.465:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.465,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.5_0.0_0.0_MultiDynamics_2_0.465_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2770/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f954354e05228890d344cbfb2a0815abaac51e3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2770/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-0.9_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2771/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1df9f1d0c5db45ce16be85f23921c689ede8d66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2771/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.0_0.0_MultiDynamics_arc_9_0.228_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2772/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a1cde876ba0c4cd37d8d2cc46502a7972b785c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2772/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.1_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2773/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65da906669eeabf338d0c581289755bfc6161d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2773/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.2_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2774/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47763d329b3be2cffd9c6ef73ed175ed072ec619
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2774/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.3_0.0_MultiDynamics_arc_12_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2775/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d3db0d7e132397194229591f575e818568d970a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2775/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.4_0.0_MultiDynamics_arc_13_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2776/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0592fbaf9705c00f9dd34f3264f09fa92f16346
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2776/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.5_0.0_MultiDynamics_arc_14_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2777/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf85c48b03d8d8dca8b76bee4fb64039c2fe352
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2777/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.6_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2778/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfcef64006564d47b296ecfdfe06c2f99c9cf35a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2778/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.7_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2779/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea491fed926ad82ac8ffd2fc1454551868f7f9a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2779/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.8_0.0_MultiDynamics_arc_17_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_278/meta.json b/RH5_dataset_threads_5000eps/frames/episode_278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92dd2cae3714a94c2bf5c0c0199f6719831319c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_278/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.515:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.515,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.6_0.0_0.0_MultiDynamics_2_0.515_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2780/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c798f961c29b912b59a38cd0f43dabb53c142dbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2780/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-1.9_0.0_MultiDynamics_arc_18_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2781/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0300f38e484205596f9e7d6abaf5447f6f9e0002
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2781/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_0.6_0.0_MultiDynamics_arc_5_0.410_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2782/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aeac0d847d2fdb6653081b9d5f06c25648f18d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2782/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_-2.0_0.0_MultiDynamics_arc_19_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2783/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e579e2c9c85bea39bb8ca9da35004af7173086
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2783/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_0.7_0.0_MultiDynamics_arc_6_0.342_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2784/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..681cb75f5b49d2739c433b0f2b05b076950b73ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2784/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_0.8_0.0_MultiDynamics_arc_8_0.256_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2785/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8efb0f6296b0ff153ec8f0a1efb19341485c53b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2785/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_0.9_0.0_MultiDynamics_arc_8_0.256_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2786/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad982d066bfd4391f95d3954c8f14527b1c50e84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2786/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.0_0.0_MultiDynamics_arc_9_0.228_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2787/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f49cecb8bca01bd037f6865a91aa6d1333d6c840
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2787/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.1_0.0_MultiDynamics_arc_11_0.186_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2788/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e3f94d7d8c5c6817c67080be2209b2f00f08c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2788/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.2_0.0_MultiDynamics_arc_11_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2789/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08dd0dd3d1583ea2fbe10f91fa8a7e5c67eef68d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2789/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.3_0.0_MultiDynamics_arc_12_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_279/meta.json b/RH5_dataset_threads_5000eps/frames/episode_279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c70c0c91fea32cd2483f2fce25a23490262e4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_279/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.565:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.565,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.7_0.0_0.0_MultiDynamics_2_0.565_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2790/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97ffe49100f58f919a28bc1b354a928a10d4a69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2790/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.4_0.0_MultiDynamics_arc_13_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2791/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f09216759237490c6fb89bc52f342fed5ac7a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2791/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.5_0.0_MultiDynamics_arc_14_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2792/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..964a81a00f7dffbfbb7259195bcc3661b445a723
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2792/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.6_0.0_MultiDynamics_arc_16_0.128_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2793/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04391b3d0ea6e1b25439ca51b90425b186906031
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2793/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.7_0.0_MultiDynamics_arc_16_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2794/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cdb90d2edfb61a751bf34681c56bf39ef09a20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2794/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.8_0.0_MultiDynamics_arc_17_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2795/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..853caf89db0c8d0ee0d7227fe3dbf7ac969b0472
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2795/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_1.9_0.0_MultiDynamics_arc_18_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2796/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fd22fefbd6a39d54c164a2f057a9f2188f5b52
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2796/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-0.6_0.0_MultiDynamics_arc_5_0.430_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2797/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dbe4dbdbc15f8227c66d80bc9b1ca6973f53d89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2797/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.5_2.0_0.0_MultiDynamics_arc_19_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2798/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ef89bcc6d3dd31bf4cd7479e6337b60a5fb93b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2798/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-0.7_0.0_MultiDynamics_arc_6_0.358_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2799/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e7f814e68494592e776cc13744b72851f5291b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2799/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-0.8_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_28/meta.json b/RH5_dataset_threads_5000eps/frames/episode_28/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9eb9d31d426bc00445f98324bee48b30ce0affc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_28/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.7_0.0_0.0_MultiDynamics_6_0.530_0.062_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_280/meta.json b/RH5_dataset_threads_5000eps/frames/episode_280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff14b7a26d4874977fc052f7b8f2b1a7c0e6eb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_280/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.615:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.615,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.8_0.0_0.0_MultiDynamics_2_0.615_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2800/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ef1d3da10c2d08bafbeec25367a2732a35d676
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2800/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-0.9_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2801/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d80fec46c6b0b9ea7a7059df2dda15990c2be22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2801/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.0_0.0_MultiDynamics_arc_9_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2802/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06be9b724eb117dce44d48ef2d21b10ab91eca6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2802/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.1_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2803/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1b692dbdfd108b83fc784db58a250b2322f70d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2803/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.2_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2804/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed5d1cce03c21fce9106a0374654489b022f017a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2804/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.3_0.0_MultiDynamics_arc_12_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2805/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4fea7a77d7e8ea8f5e812e363b96b09b938aa4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2805/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.4_0.0_MultiDynamics_arc_13_0.165_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2806/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b313e3a7a08cf780d2cf0804087bfd1f8fcb40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2806/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.5_0.0_MultiDynamics_arc_14_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2807/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9cf63bbed58a81b74f7aa852a56541f2de9588f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2807/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.6_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2808/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90de7740db3926e275a9d992f5eec88a762be0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2808/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.7_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2809/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d140b141a293d1f60a4537f342c9ef2905922cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2809/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.8_0.0_MultiDynamics_arc_17_0.126_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_281/meta.json b/RH5_dataset_threads_5000eps/frames/episode_281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e0a65709540a79b4fc725b1198a4ecb5dde6b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_281/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.433:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.433,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 1.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_1.9_0.0_0.0_MultiDynamics_3_0.433_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2810/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..902ec6188e681b52fbf0deea78c89a71652ef143
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2810/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-1.9_0.0_MultiDynamics_arc_18_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2811/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c7874a8b8c093fb9d4583c5956bfc049d9f6d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2811/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_0.6_0.0_MultiDynamics_arc_5_0.430_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2812/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f414ebfb7a81c313dda954b0d187c22552d491
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2812/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_-2.0_0.0_MultiDynamics_arc_19_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2813/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f135903f90e4f141be6a81b8e8304aa934fbe253
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2813/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_0.7_0.0_MultiDynamics_arc_6_0.358_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2814/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..609af33a6758505899cf6d76257372c970b91956
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2814/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_0.8_0.0_MultiDynamics_arc_8_0.269_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2815/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2b933be0de263b2a7cd052ce7074d8011784c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2815/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_0.9_0.0_MultiDynamics_arc_8_0.269_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2816/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4411beee4aa6c672e9e96a2a2a8197848a0ad914
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2816/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.0_0.0_MultiDynamics_arc_9_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2817/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9caac928144197107a01415c0ec27d6d089f4a89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2817/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.1_0.0_MultiDynamics_arc_11_0.195_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2818/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b59ff77ede52d58a2ce89ce691c3f00cedec127
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2818/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.2_0.0_MultiDynamics_arc_11_0.195_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2819/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e67a4f0ffa4e924b8417790dce5b78888fe2ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2819/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.3_0.0_MultiDynamics_arc_12_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_282/meta.json b/RH5_dataset_threads_5000eps/frames/episode_282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d12efa643b5981c9366e159555758bbe7bd15d51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_282/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.466:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.466,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.0_0.0_0.0_MultiDynamics_3_0.466_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2820/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..499e6556f454d8284906592e29e1e5d24faade2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2820/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.4_0.0_MultiDynamics_arc_13_0.165_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2821/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..316b5bdb648dfda92bb02ad3d02bccd82cf3feea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2821/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.5_0.0_MultiDynamics_arc_14_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2822/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f7551acd2677b50da5dc3b1398473ef621b37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2822/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.6_0.0_MultiDynamics_arc_16_0.134_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2823/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb16094f6643633605031c7436ca02f78187e36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2823/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.7_0.0_MultiDynamics_arc_16_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2824/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfdd0d817abfe9e67db0e68d9823a12276ea4ddd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2824/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.8_0.0_MultiDynamics_arc_17_0.126_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2825/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44b2da084fecc11c60c1792606dc6cd5aad4658
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2825/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_1.9_0.0_MultiDynamics_arc_18_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2826/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3e16e0fd48376c20f9a6490fc1efceed26e931
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2826/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-0.6_0.0_MultiDynamics_arc_5_0.450_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2827/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d68cc05faf2710d709114e9624b8212d747f5631
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2827/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.6_2.0_0.0_MultiDynamics_arc_19_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2828/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ac543d393ee1fe572efe0a3ac8b174b52d4541
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2828/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-0.7_0.0_MultiDynamics_arc_6_0.375_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2829/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa140c8010f2a849578f46d16663c4afa429ccb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2829/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-0.8_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_283/meta.json b/RH5_dataset_threads_5000eps/frames/episode_283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bab6b5b2e68a7867bc1f6acc12388fc8d080867
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_283/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.499:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.499,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.1_0.0_0.0_MultiDynamics_3_0.499_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2830/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3921db31bc0c0caf9a96f746b6d29c7001ba3b15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2830/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-0.9_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2831/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf180a0321c45b9fb5df2897fcf493af3ccdc23b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2831/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.0_0.0_MultiDynamics_arc_9_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2832/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d92c6d3a8c9b6e8bc4aa335917f085b1d74d55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2832/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.1_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2833/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8dbfbb8bf93fb321af0a8859eba110046c8311
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2833/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.2_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2834/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..001ae37521ca8228c850c6211cdf25efb511251a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2834/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.3_0.0_MultiDynamics_arc_12_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2835/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a482c34aa5daf1771f95591c2d0e4b3e25ecaf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2835/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.4_0.0_MultiDynamics_arc_13_0.173_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2836/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f637c3e46189b43ba74eadbab919fda9fdd45d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2836/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.5_0.0_MultiDynamics_arc_14_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2837/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2eb92dce50f98f502f3ad208be42d9697bdd857
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2837/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.6_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2838/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5fb9f29befd71c7dae9185a9d299b4c218441e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2838/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.7_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2839/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a2f094dccc065b2372ad5ba734a3ec5198557b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2839/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.8_0.0_MultiDynamics_arc_17_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_284/meta.json b/RH5_dataset_threads_5000eps/frames/episode_284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b90219cec8adce030e5710ea41bcc9df5fe9545
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_284/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.533:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.533,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.2_0.0_0.0_MultiDynamics_3_0.533_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2840/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4990d961d24b2d8a008ef0c0b8e9bf5d5bdcac5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2840/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-1.9_0.0_MultiDynamics_arc_18_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2841/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcee9b54e4276742da8ffa4889164e968a397ca0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2841/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_0.6_0.0_MultiDynamics_arc_5_0.450_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2842/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b418b6cc5faf702cfad1635c7d8b273d53e2c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2842/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_-2.0_0.0_MultiDynamics_arc_19_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2843/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba473e8ca79c837faa65ba5af93d804fe732035
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2843/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_0.7_0.0_MultiDynamics_arc_6_0.375_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2844/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32346f29d8b096a83e99314cb1de113496cb68d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2844/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_0.8_0.0_MultiDynamics_arc_8_0.281_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2845/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4ba908be446b4b297cb26c17ba3260172d549e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2845/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_0.9_0.0_MultiDynamics_arc_8_0.281_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2846/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c127156e3bc2f99e6348aa9c410096eacedb203
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2846/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.0_0.0_MultiDynamics_arc_9_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2847/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5ad8bc09685ceea7d09542106f6491126dcfc8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2847/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.1_0.0_MultiDynamics_arc_11_0.205_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2848/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a456f66c51a1503dee11d66b05fb929741e7e239
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2848/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.2_0.0_MultiDynamics_arc_11_0.205_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2849/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a4dfc52e617e1fa4d88fde80f3ff7452e8bf83a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2849/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.3_0.0_MultiDynamics_arc_12_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_285/meta.json b/RH5_dataset_threads_5000eps/frames/episode_285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9c730e884a653e481d629e81433e24d8710a05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_285/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.566:0.062,MultiDynamics_s:1:0.75:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.3_0.0_0.0_MultiDynamics_3_0.566_0.062_MultiDynamics_s_1_0.75_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2850/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e343a19284a27ebb37b0f29a3e318094b3251c0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2850/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.4_0.0_MultiDynamics_arc_13_0.173_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2851/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e013645044180a958982fff271d2ec556f6f6fe2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2851/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.5_0.0_MultiDynamics_arc_14_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2852/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44272a7c1b14a51d55556d2116ec2f2dd9f92cd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2852/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.6_0.0_MultiDynamics_arc_16_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2853/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5598deee25e376164f0856ff2c0eacff7116d280
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2853/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.7_0.0_MultiDynamics_arc_16_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2854/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffee07020cd4b52a1acb936bdd68d169a6f9c65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2854/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.8_0.0_MultiDynamics_arc_17_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2855/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7ecb7696aeefe64f1a1141de4ad066b5cb12a2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2855/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_1.9_0.0_MultiDynamics_arc_18_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2856/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0c4a3814ad14e7435bce5022a2e00d91573adc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2856/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-0.6_0.0_MultiDynamics_arc_5_0.470_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2857/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64542aba1a66935456185a0634ee946582ae3331
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2857/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.7_2.0_0.0_MultiDynamics_arc_19_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2858/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a65f77350beb8060ac2c5175e37f71f33c88b40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2858/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-0.7_0.0_MultiDynamics_arc_6_0.392_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2859/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d488b0a703d287c6edc442b0566dc520b17608
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2859/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-0.8_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_286/meta.json b/RH5_dataset_threads_5000eps/frames/episode_286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..641661dde9d54508f76e62af74559eb03215159d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_286/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.610:0.062,MultiDynamics_s:1:0.73:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.61,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.4_0.0_0.0_MultiDynamics_3_0.610_0.062_MultiDynamics_s_1_0.73_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2860/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d01fdd0f41e3e4160fd83c9406dd075df2d065a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2860/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-0.9_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2861/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1209cd7acf8b07a5bf83cc318246a45a1f8cd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2861/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.0_0.0_MultiDynamics_arc_9_0.261_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2862/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71cccf88136201c8a84efeb8aa91a6fe30f6aa87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2862/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.1_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2863/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5445c405496349b14e88e9fc33a9461b7715fda6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2863/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.2_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2864/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e07832e10602805f7aa2045d2c98ce4aedcc88d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2864/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.3_0.0_MultiDynamics_arc_12_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2865/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ef8806839cf11b76783a2b089639bef89b301a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2865/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.4_0.0_MultiDynamics_arc_13_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2866/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcf5d029ed8ab0cc8c0da47e8c3abdded48c399c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2866/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.5_0.0_MultiDynamics_arc_14_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2867/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16df93f7631872ee1b996f45f00bed713cdc64d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2867/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.6_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2868/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7fa6a2f624b0d7150c18b8de8aa5e1c120b71a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2868/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.7_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2869/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faa5085d3180449fbb9c4e844e93e0c9b14daa80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2869/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.8_0.0_MultiDynamics_arc_17_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_287/meta.json b/RH5_dataset_threads_5000eps/frames/episode_287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..939f3c127e81cc1db8990313942671cf7f67076b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_287/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.482:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.482,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.5_0.0_0.0_MultiDynamics_4_0.482_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2870/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d213475c9cd8873a534045a737c73fb7d41dd36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2870/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-1.9_0.0_MultiDynamics_arc_18_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2871/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..441fa9eea82becc81702b956176e9b3f0ece1bfe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2871/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_0.6_0.0_MultiDynamics_arc_5_0.470_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2872/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1423ce7bd84f70e9c932ea9a10b3340ceda08cbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2872/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_-2.0_0.0_MultiDynamics_arc_19_0.124_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2873/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..519e0a31fd61fb34b59fea89839e41ae9135fde8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2873/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_0.7_0.0_MultiDynamics_arc_6_0.392_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2874/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27845903babeaee5d5d23a6e337fd7737caae879
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2874/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_0.8_0.0_MultiDynamics_arc_8_0.294_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2875/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d9025708bc238146a6f1988c12b4a7d351971d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2875/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_0.9_0.0_MultiDynamics_arc_8_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2876/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f17b70dd8189ed741b4547225cfe6df74b881903
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2876/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.0_0.0_MultiDynamics_arc_9_0.261_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2877/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5aab478454e1587df3940e6c702db0a07257c88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2877/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.1_0.0_MultiDynamics_arc_11_0.214_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2878/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75512305c4230deb2284acdfee7ab63c3d1144eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2878/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.2_0.0_MultiDynamics_arc_11_0.214_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2879/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89c35449cdcc7a21e05bc39cbea715760c71c9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2879/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.3_0.0_MultiDynamics_arc_12_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_288/meta.json b/RH5_dataset_threads_5000eps/frames/episode_288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a4b2940c8e31ad651b515c25d63b23e6675d3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_288/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.508,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2880/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..702f21f17f52a80b509e51dfcd57083ec20f762a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2880/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.4_0.0_MultiDynamics_arc_13_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2881/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c90ffb865c19c52ab5e441cbbfc0e7867d350483
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2881/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.5_0.0_MultiDynamics_arc_14_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2882/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd7d1f4bde8fe1f9d428c6c5ff1842a636f476b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2882/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.6_0.0_MultiDynamics_arc_16_0.147_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2883/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab92596dd45438d43b7c45998d5466826665d18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2883/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.7_0.0_MultiDynamics_arc_16_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2884/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e5d96cae65dd09cab5138491267ff14f9eef63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2884/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.8_0.0_MultiDynamics_arc_17_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2885/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d072bb227128d1dfe6a1f81baf96d6a6f9e65719
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2885/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_1.9_0.0_MultiDynamics_arc_18_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2886/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ca25a197995f455c52bd3e819db309a89eee5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2886/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-0.6_0.0_MultiDynamics_arc_5_0.490_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2887/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e605587a2449abb206b06383641af7c2ffe156f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2887/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.8_2.0_0.0_MultiDynamics_arc_19_0.124_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2888/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c182be1d678b38cfe64c5b6c5547e69a5a01674
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2888/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-0.7_0.0_MultiDynamics_arc_6_0.408_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2889/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e3fdec54183b2a8f24f0b877c50740aec16f17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2889/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-0.8_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_289/meta.json b/RH5_dataset_threads_5000eps/frames/episode_289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95349f5d85439bc1399ccf4f67e69359b42fed8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_289/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.532:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.532,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.7_0.0_0.0_MultiDynamics_4_0.532_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2890/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..717186220699631a8859b697c13969b57faba812
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2890/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-0.9_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2891/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4628fb0ad82e51c3b896cc9d8af91baeba6339b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2891/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.0_0.0_MultiDynamics_arc_9_0.272_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2892/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9900953232d037b1874d0e51b3478366220980
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2892/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.1_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2893/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8befb24813d31db9a11cda82bea8734f0b7ac86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2893/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.2_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2894/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec1bd15ac40f8b925c5de039ba7f08ef0671e96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2894/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.3_0.0_MultiDynamics_arc_12_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2895/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d398b745916f7fd419bc04f5f467a3b81b1f4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2895/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.4_0.0_MultiDynamics_arc_13_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2896/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfcbd8cf298236d923029b4ff700ec57ba4a3bbd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2896/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.5_0.0_MultiDynamics_arc_14_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2897/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..056b51a86e37dc38449a6f0ab827ac0eaadcaec2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2897/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.6_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2898/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c9940fba6b9fb280b159fe6ea125017d4bbeee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2898/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.7_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2899/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc0de5b30ddcb6afa0bbcdcd6b1255571be29ba7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2899/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.8_0.0_MultiDynamics_arc_17_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_29/meta.json b/RH5_dataset_threads_5000eps/frames/episode_29/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e305e1c9965f3f520b191da7d6e4d21e7d6f71b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_29/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_4.0_0.0_0.0_MultiDynamics_6_0.580_0.062_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_290/meta.json b/RH5_dataset_threads_5000eps/frames/episode_290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c81e0901627c17129dacd1a868919650563c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_290/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.557:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.557,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.8_0.0_0.0_MultiDynamics_4_0.557_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2900/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b79eb99a1cf987ee7c3494bc3a00f9f356f5cba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2900/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-1.9_0.0_MultiDynamics_arc_18_0.136_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2901/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05aa46265660bed5b5d7d5f85147fd1ecacc548f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2901/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (2.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_0.6_0.0_MultiDynamics_arc_5_0.490_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2902/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0257722915a9e84dbbc016dd39b7a96d29478b30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2902/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_-2.0_0.0_MultiDynamics_arc_19_0.129_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2903/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af57bde22929850172ab0cb5e8ce5906dd0d4201
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2903/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (2.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_0.7_0.0_MultiDynamics_arc_6_0.408_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2904/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8994d6ec56c70bd216306d2428526ff46e7cbfa4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2904/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_0.8_0.0_MultiDynamics_arc_8_0.306_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2905/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..445d0f73516870f31aaa0f1d3bcfc87555005907
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2905/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (2.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_0.9_0.0_MultiDynamics_arc_8_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2906/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ab284f672efbbfd9c9d89eee4863211822a691
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2906/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (2.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.0_0.0_MultiDynamics_arc_9_0.272_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2907/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db885bb64745af58bdb6a1022ce4168bde48ef3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2907/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.1_0.0_MultiDynamics_arc_11_0.223_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2908/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5391c25bfbb1b5dca1dc57e4aa30761d4f804ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2908/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (2.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.2_0.0_MultiDynamics_arc_11_0.223_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2909/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78987a5b1bd42b31f922728ac819e170616726db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2909/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (2.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.3_0.0_MultiDynamics_arc_12_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_291/meta.json b/RH5_dataset_threads_5000eps/frames/episode_291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4213410a2031dc99fbca07187145c0cd7a0e9295
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_291/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.583:0.062,MultiDynamics_s:1:0.665:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_2.9_0.0_0.0_MultiDynamics_4_0.583_0.062_MultiDynamics_s_1_0.665_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2910/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc97ecd7022dbaf1c79b923562f4569cbc812d26
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2910/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (2.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.4_0.0_MultiDynamics_arc_13_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2911/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b747542eb63913d48c4b0de42c7020ee03ca38e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2911/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (2.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.5_0.0_MultiDynamics_arc_14_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2912/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff70505f6a880997f8048f9dd4b1efb387bdf5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2912/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.6_0.0_MultiDynamics_arc_16_0.153_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2913/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d805704d0ae6ebf59205e24ede51fd1408e4465
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2913/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (2.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.7_0.0_MultiDynamics_arc_16_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2914/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38aa15eb13135902421b1e94988013c5d814325f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2914/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (2.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.8_0.0_MultiDynamics_arc_17_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2915/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecdd6c64f334ab9722f0c3bf84283265564829de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2915/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (2.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_1.9_0.0_MultiDynamics_arc_18_0.136_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2916/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b4c70c5b5007b3ccb748631d95504c541bcb4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2916/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2917/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b23b3659d056163125e850453ba0974ea8839ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2917/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (2.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_2.9_2.0_0.0_MultiDynamics_arc_19_0.129_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2918/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..774059f363799fe5d80e8bbf67dd903beeda6306
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2918/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-0.7_0.0_MultiDynamics_arc_6_0.425_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2919/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac0ae992ed6ff8f98fbf64ecdb56aa10d123d1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2919/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-0.8_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_292/meta.json b/RH5_dataset_threads_5000eps/frames/episode_292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a9eb4b7cdae148459c6f1a718a61caad08bb34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_292/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.607:0.062,MultiDynamics_s:1:0.7:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.607,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.0_0.0_0.0_MultiDynamics_4_0.607_0.062_MultiDynamics_s_1_0.7_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2920/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e961aca13fdf2ac6c1e12f2ef9033935b1984670
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2920/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-0.9_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2921/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec075d1b9639d6128298aced77b2b2b2a85ff274
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2921/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.0_0.0_MultiDynamics_arc_9_0.283_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2922/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec0488f9c30c2dd39fd6fa7ac4a04ab8b6bf8fee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2922/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.1_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2923/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a25a81bab66fe68425048179f045f4bc72f1f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2923/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.2_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2924/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adbb4a71aec242fdb22a1106cb4ba766f1a34d5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2924/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.3_0.0_MultiDynamics_arc_12_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2925/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5a3c43da57df7cf84c628bc24a0cad3e60c8a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2925/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.4_0.0_MultiDynamics_arc_13_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2926/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea27f692e9ca6261fc94e691d5b8f1285ba762a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2926/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.5_0.0_MultiDynamics_arc_14_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2927/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb609ea4afc2ed3f5a5f7abe85cb138536899680
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2927/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.6_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2928/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb072899a15c47245102a60c0322620a99607cf2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2928/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.7_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2929/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02d0863494fdebe7b7d824daa8331a2999b5955f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2929/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.8_0.0_MultiDynamics_arc_17_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_293/meta.json b/RH5_dataset_threads_5000eps/frames/episode_293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..802ac80be181903c668f636a6310e4d011c13633
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_293/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.506:0.062,MultiDynamics_s:1:0.65:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.506,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.1_0.0_0.0_MultiDynamics_5_0.506_0.062_MultiDynamics_s_1_0.65_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2930/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9c9d5484aefbcc9f398f12e48f03f8a206efac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2930/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-1.9_0.0_MultiDynamics_arc_18_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2931/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..297bc60b6285022dd8a86d865fb977ee51f01ce2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2931/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2932/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91a19509d9ae2bf27f8fa96f0390f3bca43fc77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2932/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_-2.0_0.0_MultiDynamics_arc_19_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2933/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0164b973b0d1370cf46aff2efae1832075c336a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2933/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_0.7_0.0_MultiDynamics_arc_6_0.425_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2934/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dece7cd99189421214f316829e10769f23dc7b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2934/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_0.8_0.0_MultiDynamics_arc_8_0.319_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2935/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b8f7c5e4cb4cc28007b4688ef08fe77f32fe449
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2935/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_0.9_0.0_MultiDynamics_arc_8_0.319_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2936/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..285c5d7ef04386487e51b848b446ce3b562e8370
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2936/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.0_0.0_MultiDynamics_arc_9_0.283_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2937/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de68774dcad73cd01f89a5545a8b3b77b28f3ad3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2937/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.1_0.0_MultiDynamics_arc_11_0.232_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2938/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8dace7e27a1dfb97d9f5af99d003bedbbd89b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2938/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.2_0.0_MultiDynamics_arc_11_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2939/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc18d0e07174cf8860e6077a13fd73a042dfaf3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2939/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.3_0.0_MultiDynamics_arc_12_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_294/meta.json b/RH5_dataset_threads_5000eps/frames/episode_294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81355fe9bf957c321fe638f306ad69500cbdf973
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_294/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.526:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.526,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.2_0.0_0.0_MultiDynamics_5_0.526_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2940/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6eaa6a9fc57aeaa0d552f97649d164fd84315d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2940/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.4_0.0_MultiDynamics_arc_13_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2941/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5cd29db28f52f281d5414c74f8f9e8db5ddbbff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2941/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.5_0.0_MultiDynamics_arc_14_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2942/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91f40e5a4fe1d5440a8485503673fa40b41873b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2942/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.6_0.0_MultiDynamics_arc_16_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2943/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60415edef2099f2f845a741d70b7bfa1b10d6115
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2943/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.7_0.0_MultiDynamics_arc_16_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2944/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79cabead424ba3d0f8d52cf939a6f46c231dd2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2944/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.8_0.0_MultiDynamics_arc_17_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2945/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3364af813e1c94aba7ef2d7b0730b9a6738456ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2945/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_1.9_0.0_MultiDynamics_arc_18_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2946/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d03d9ee31c5625e7f5a7f8403e8208134d7341
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2946/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2947/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bb29f0e03427515c56ec188df1a5707c702c51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2947/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.0_2.0_0.0_MultiDynamics_arc_19_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2948/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75b3f5f9cdb75df26f6c14a34b60ac4049754de9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2948/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-0.7_0.0_MultiDynamics_arc_6_0.442_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2949/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7da247445fd6a924515daa7686bcff02840baa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2949/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-0.8_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_295/meta.json b/RH5_dataset_threads_5000eps/frames/episode_295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b682948b5c98e4c820c4e65f3248c918b618f496
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_295/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.546:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.546,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.3_0.0_0.0_MultiDynamics_5_0.546_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2950/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf9fba36bcd504634a44a171c331a6f9d4ab458
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2950/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-0.9_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2951/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c3f1dad5d1f9c716853f6dd47ed20d51f1622af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2951/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.0_0.0_MultiDynamics_arc_9_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2952/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e2b3b562dc0b7bf4883188a928355f41c336ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2952/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.1_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2953/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edeacf2fb633f9380e4746cb648cabd8f392ac83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2953/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.2_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2954/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..842514743f766cd7b0db9ef9d7c1809674440a75
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2954/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.3_0.0_MultiDynamics_arc_12_0.221_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2955/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..633e1c8b697830dc27e2b5a49536b63d21d6cc5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2955/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.4_0.0_MultiDynamics_arc_13_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2956/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d6c7340f376983fe169b39b916cc6dc1267731
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2956/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.5_0.0_MultiDynamics_arc_14_0.189_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2957/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08631fefccd56d28254306b5a592dd5c916c8528
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2957/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.6_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2958/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be63bda3aea1fd1268c5eae1f92f5d894a93c0d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2958/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.7_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2959/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2596157f9964e48c81c95be9965729de6868e5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2959/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.8_0.0_MultiDynamics_arc_17_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_296/meta.json b/RH5_dataset_threads_5000eps/frames/episode_296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e7586d868b6ca819410583c17a7465a3d5ebbd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_296/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.566:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.566,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.4_0.0_0.0_MultiDynamics_5_0.566_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2960/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89992da1e58959637998151a8b4b6721aaa7d83f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2960/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-1.9_0.0_MultiDynamics_arc_18_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2961/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a149f643e48c98a55cebbd04fb5eff65ca121c8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2961/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2962/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57fac47542e7f7c6d9b3012bb0ea5c91b8c7ee7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2962/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_-2.0_0.0_MultiDynamics_arc_19_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2963/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59108b5af68a69804d9bf65663ab05c81d0e02ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2963/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_0.7_0.0_MultiDynamics_arc_6_0.442_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2964/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..197bd5f4e9dcb0d304456d09d3416bb25fdc6d7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2964/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_0.8_0.0_MultiDynamics_arc_8_0.331_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2965/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c94443ae96bd9d8f5e2793103324b4f4d7f5ea8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2965/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_0.9_0.0_MultiDynamics_arc_8_0.331_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2966/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5706ff2851f361f5ed9c02e4749f2aae765763c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2966/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.0_0.0_MultiDynamics_arc_9_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2967/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..470c0cd27c815d67f0d1f219d6102036dcb220d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2967/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.1_0.0_MultiDynamics_arc_11_0.241_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2968/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..289cd4be0bcc57876ff6320518fd48726fc759f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2968/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.2_0.0_MultiDynamics_arc_11_0.241_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2969/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c102701ab49dc9d38b8e3e2a32947d34f033126e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2969/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.3_0.0_MultiDynamics_arc_12_0.221_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_297/meta.json b/RH5_dataset_threads_5000eps/frames/episode_297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1687d7878e4b5256b854550780bd05c8d4f785
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_297/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.586:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.586,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.5_0.0_0.0_MultiDynamics_5_0.586_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2970/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79c7660d4fa69091250888224691dd32ce6a9f09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2970/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.4_0.0_MultiDynamics_arc_13_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2971/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..091f377fcfa2830c0c1c0a778e8dc8ddba2a1bad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2971/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.5_0.0_MultiDynamics_arc_14_0.189_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2972/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db44184b06fc10ea6aea4989c683ee6fa4c09019
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2972/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.6_0.0_MultiDynamics_arc_16_0.166_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2973/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2174afafc7946ae8e73b020a4d61f7f26d5c0c13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2973/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.7_0.0_MultiDynamics_arc_16_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2974/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b735cc2722aa4f933ca2bd589f23e0eb52dac7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2974/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.8_0.0_MultiDynamics_arc_17_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2975/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bbbf7363ca4712fe38f6a8b83d1c67c23e078cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2975/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_1.9_0.0_MultiDynamics_arc_18_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2976/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82b350832f3ca068b206e460ed45aaa2fc10a402
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2976/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2977/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4622f99ebaf3ece1bd532374fb4c3f93d1efa5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2977/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.1_2.0_0.0_MultiDynamics_arc_19_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2978/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..746cf10f890c30dee15fa125975f0f16eeda8846
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2978/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-0.7_0.0_MultiDynamics_arc_6_0.458_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2979/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4244962bdc59970dc286e2c5bbee64e72377f97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2979/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-0.8_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_298/meta.json b/RH5_dataset_threads_5000eps/frames/episode_298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..530b77a879d76f7340938582925fc47a074ad7dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_298/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.606:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.606,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.6_0.0_0.0_MultiDynamics_5_0.606_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2980/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c2cfef60add7b0fc41912fd2c8a200e0be4ee84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2980/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-0.9_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2981/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f93666ade9ba22ea4c257de742dfa639e6b0c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2981/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.0_0.0_MultiDynamics_arc_9_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2982/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e7e060037788cccfeaffe3febc1b0b8862643
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2982/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.1_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2983/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26576162fe9b6170d89f04e5fc598659d811d3e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2983/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.2_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2984/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a793da17d2b62df3f298fb1b35ae03af1a5066
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2984/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.3_0.0_MultiDynamics_arc_12_0.229_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2985/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11e1a1b954266f1ed2c8989a13f65cfe341f2b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2985/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.4_0.0_MultiDynamics_arc_13_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2986/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42781227ab803445418b7d67a74bdeb756f07031
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2986/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.5_0.0_MultiDynamics_arc_14_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2987/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c125391083a139e6c18748e5785cda036ecb0b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2987/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.6_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2988/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacc90486d65bf92bf007e23d38c8ad49539c262
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2988/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.7_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2989/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f29d55b4652fae63cd26b7f1500c265c5101d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2989/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.8_0.0_MultiDynamics_arc_17_0.162_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_299/meta.json b/RH5_dataset_threads_5000eps/frames/episode_299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4898a2c9ca17aeec7c5485986b7369f696a74da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_299/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.626:0.062,MultiDynamics_s:1:0.72:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.626,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.7_0.0_0.0_MultiDynamics_5_0.626_0.062_MultiDynamics_s_1_0.72_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2990/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ac9c0c3a3ec1d74a1eea80785ee7eb1d65f382
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2990/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-1.9_0.0_MultiDynamics_arc_18_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2991/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..195755d563320dc41d9616e6566c63caea9dac8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2991/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2992/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..854fdd6ef4b0f033cfcd8576e4913d7ea6a5aaaf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2992/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_-2.0_0.0_MultiDynamics_arc_19_0.145_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2993/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..236fc8aac093e9f5162a2cb553a98da2dc385991
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2993/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_0.7_0.0_MultiDynamics_arc_6_0.458_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2994/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eab4beeebb8c71de283a07ab47c1f66a22c99fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2994/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_0.8_0.0_MultiDynamics_arc_8_0.344_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2995/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e1910ba9a344d5438f053e9b5e360055071c68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2995/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_0.9_0.0_MultiDynamics_arc_8_0.344_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2996/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6d5027687ae7df3c83e2ddcfb20a716933aad6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2996/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.0_0.0_MultiDynamics_arc_9_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2997/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cab34c2e6400a9e93e05f20f9ffe73eb8f8ebb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2997/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.1_0.0_MultiDynamics_arc_11_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2998/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b9bca7a3b33db2e7dfb4179946da3c138e2bdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2998/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.2_0.0_MultiDynamics_arc_11_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_2999/meta.json b/RH5_dataset_threads_5000eps/frames/episode_2999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c44bfa5cc9b840ac0588b45a60055b9114c019c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_2999/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.3_0.0_MultiDynamics_arc_12_0.229_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d43b9c597d01e908e8f00adf23ce9d26aafda4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.062,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.4_0.0_0.0_MultiDynamics_2_0.401_0.062_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_30/meta.json b/RH5_dataset_threads_5000eps/frames/episode_30/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c955f4d716fd6f212e8f1192b2ae552f3ad2b8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_30/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.062,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.9_0.0_0.0_MultiDynamics_6_0.560_0.062_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_300/meta.json b/RH5_dataset_threads_5000eps/frames/episode_300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c985f7fb02a5e9f01de2cce8057e9ce80c67d64
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_300/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.538:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.538,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.8_0.0_0.0_MultiDynamics_6_0.538_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3000/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccfb8cbb4b98cf45c5e8199c6c009b7d182ef637
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3000/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.4_0.0_MultiDynamics_arc_13_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3001/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e3403edc45c9fd88b65c7351fc998cdd8f85a74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3001/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.5_0.0_MultiDynamics_arc_14_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3002/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..860254218b1a4698e94137a8c4c493f1ca1f3020
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3002/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.6_0.0_MultiDynamics_arc_16_0.172_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3003/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8c94e20a18ce08a3afed82466af76b04a331c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3003/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.7_0.0_MultiDynamics_arc_16_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3004/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b6b976ef95233588bd0437f99c18daf6ea6382
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3004/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.8_0.0_MultiDynamics_arc_17_0.162_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3005/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36dd5cd1820954e57529841220ebce2684572135
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3005/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_1.9_0.0_MultiDynamics_arc_18_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3006/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a328b63435044777ecbbfc5b4b7dee2a4216b0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3006/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3007/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa21f9f287e45aed2291d738e299ef5cae67db8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3007/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.2_2.0_0.0_MultiDynamics_arc_19_0.145_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3008/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a5ab2f6729cac476be85e33ddc22cbb9951aaf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3008/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-0.7_0.0_MultiDynamics_arc_6_0.475_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3009/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4bf25b22ff1bf694b72871b947a2eb3386fa079
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3009/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-0.8_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_301/meta.json b/RH5_dataset_threads_5000eps/frames/episode_301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..458bff1ad549c762aeaa01003a283ae7d1fa8893
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_301/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.062",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.54,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.0_0.0_0.0_MultiDynamics_2_0.540_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3010/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd687e416ef701de5df48f98cd32e771d06170b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3010/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-0.9_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3011/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e4d92305f806d8a5181bbd6a4a89bf60d8097e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3011/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.0_0.0_MultiDynamics_arc_9_0.317_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3012/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..786b2e42b2bacd06006a203d4a3bb9c0e7986f01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3012/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.1_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3013/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6c2c456b38a32625185e16472c5842fd0167e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3013/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.2_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3014/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3555c189d1641cb059b8d26f3a2a382f417cce47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3014/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.3_0.0_MultiDynamics_arc_12_0.237_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3015/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d570b5939684ef6882f6decca943b83f4943dda6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3015/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.4_0.0_MultiDynamics_arc_13_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3016/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a74857bb0baaf9b32142fe89500664768b9ae59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3016/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.5_0.0_MultiDynamics_arc_14_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3017/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c2697175d35ded9afd7571cadb5b2ab34e5594
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3017/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.6_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3018/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b309581c257438dab0f1caa504f2431d5ea7ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3018/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.7_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3019/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b469293808dad5e7ce79a167045792a0000b26fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3019/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.8_0.0_MultiDynamics_arc_17_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_302/meta.json b/RH5_dataset_threads_5000eps/frames/episode_302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6d34f2cc62fe2902e8140bf11de4114367270
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_302/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.555:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.555,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_3.9_0.0_0.0_MultiDynamics_6_0.555_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3020/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5869023b824e79f0a07c2ff9a78e37b23418953
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3020/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-1.9_0.0_MultiDynamics_arc_18_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3021/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1b5e3a85e5b6d8408a10542ea68788c1048c51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3021/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3022/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b86a6382100940a9e9ff8ea1f52118cc8fb4502
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3022/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_-2.0_0.0_MultiDynamics_arc_19_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3023/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcda77691083b35b2f6b41550af90895415d2eeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3023/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_0.7_0.0_MultiDynamics_arc_6_0.475_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3024/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a9912319c58534257f9394b7851233b113c675
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3024/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_0.8_0.0_MultiDynamics_arc_8_0.356_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3025/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df1cf438b8d7836db1c0d2f94114ecc1339580d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3025/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_0.9_0.0_MultiDynamics_arc_8_0.356_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3026/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e52b65fb4de33ce7f427ef9407fd6c590d9c0ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3026/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.0_0.0_MultiDynamics_arc_9_0.317_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3027/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c80c730ea3825bbffcb1f9f72b4ba18ed5024fbc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3027/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.1_0.0_MultiDynamics_arc_11_0.259_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3028/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1679e1f7c27b9812684ecf87332a037bf959950c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3028/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.2_0.0_MultiDynamics_arc_11_0.259_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3029/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9307166aaf5a224ac1466d94b68d3063e296b0b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3029/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.3_0.0_MultiDynamics_arc_12_0.237_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_303/meta.json b/RH5_dataset_threads_5000eps/frames/episode_303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3177c413b15efb1f556dc7b69143696fcb43f3cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_303/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.572:0.062,MultiDynamics_s:1:0.70:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05",
+  "object": "singleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.572,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Single stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/singleStair/yellow_4.0_0.0_0.0_MultiDynamics_6_0.572_0.062_MultiDynamics_s_1_0.70_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3030/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..271bb193f9317e3768adddf5dc6c70075c1b2881
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3030/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.4_0.0_MultiDynamics_arc_13_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3031/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa84099e9d84ae53888054c3d37abcec034451
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3031/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.5_0.0_MultiDynamics_arc_14_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3032/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa7199f451646746999d8a290d06bc6ab5a0562
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3032/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.6_0.0_MultiDynamics_arc_16_0.178_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3033/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f75e55c3201d3b9a6459b50c5f6cceac98f28163
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3033/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.7_0.0_MultiDynamics_arc_16_0.178_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3034/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda8fba24d63c23884ebd1d0471c4d1864d020ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3034/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.8_0.0_MultiDynamics_arc_17_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3035/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbca4947796800b3956da6fb4510b9927a290b2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3035/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_1.9_0.0_MultiDynamics_arc_18_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3036/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b48df05d648fafcd3a1d76e7b9d10ff98071c40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3036/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3037/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afad7928d417d3042447dadc3bc8c209aca4fca9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3037/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.3_2.0_0.0_MultiDynamics_arc_19_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3038/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2378051bd451dab483f531ad6dc2918067e5faa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3038/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-0.7_0.0_MultiDynamics_arc_6_0.492_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3039/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5d8712664c4d5fe07f484f6030d2bdff05e97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3039/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-0.8_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_304/meta.json b/RH5_dataset_threads_5000eps/frames/episode_304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca00ce840ee3f4f67ac76b749f9f3f3f02f0a19d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_304/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.062",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.59,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.1_0.0_0.0_MultiDynamics_2_0.590_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3040/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a854a2cb1c9b5bbf0692dc12544e6868bfad53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3040/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-0.9_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3041/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d89030b97c5528a1f82d570821cabb67a285bb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3041/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.0_0.0_MultiDynamics_arc_9_0.328_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3042/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..941c944062f039f2beda81350942621fd3031ba2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3042/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.1_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3043/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10350ab1602463c382a0a53b47d5b6b4da188e60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3043/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.2_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3044/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bf5088b261633530de265bd8bc6b625562982d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3044/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.3_0.0_MultiDynamics_arc_12_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3045/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a394717cf9b889eb7ac6e2af0cf509bbff97d772
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3045/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.4_0.0_MultiDynamics_arc_13_0.227_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3046/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf876f11893c2aeb9c7af5a6fb760de2f5f6147
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3046/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.5_0.0_MultiDynamics_arc_14_0.211_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3047/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f994bf07b6cd8d60bc2712002ff0bece68bc5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3047/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.6_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3048/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e672a2929a1cc26f1cedf335ae46d4c38685cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3048/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.7_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3049/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4589ca30cb82839d8ab370e7e1b28f3c41ce5052
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3049/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.8_0.0_MultiDynamics_arc_17_0.174_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_305/meta.json b/RH5_dataset_threads_5000eps/frames/episode_305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23c9c0fbe49f87dca9be75b27a972b437fe07c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_305/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.062",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.427,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.2_0.0_0.0_MultiDynamics_3_0.427_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3050/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdecb9065ba2fc32892f3f77af63f7085e78b7c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3050/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-1.9_0.0_MultiDynamics_arc_18_0.164_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3051/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e93da5f24994f31f7b19132d57d4a1ec61b7322
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3051/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3052/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9958eafb56dfa6bf6f9ac80aadc8bc1de01e1f00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3052/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_-2.0_0.0_MultiDynamics_arc_19_0.155_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3053/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4932b4482145d42983ee719efd29133dde24d430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3053/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_0.7_0.0_MultiDynamics_arc_6_0.492_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3054/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a13c60e7721f426047ffd90fad1cb84e75651
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3054/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_0.8_0.0_MultiDynamics_arc_8_0.369_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3055/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f5948c8899743fd3cbd7c73f87a12d59b648f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3055/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_0.9_0.0_MultiDynamics_arc_8_0.369_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3056/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed3140eaa63ad7b570c658808a9c0911b93aadd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3056/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.0_0.0_MultiDynamics_arc_9_0.328_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3057/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddb60a8c5bab4a95dd4edcf3af4eedb4d926ec1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3057/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.1_0.0_MultiDynamics_arc_11_0.268_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3058/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de967c13ab1b2d0385d9651c10f5690e23bc1ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3058/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.2_0.0_MultiDynamics_arc_11_0.268_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3059/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab9b9451e04405bfd49623ac4bcc773cd2c24bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3059/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.3_0.0_MultiDynamics_arc_12_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_306/meta.json b/RH5_dataset_threads_5000eps/frames/episode_306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d3a682434c07e9971c7fd90c713076c4dffd59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_306/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.477,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.477_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3060/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..265f19ca6e6b6511cd576cdbea2c25da71a3030a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3060/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.4_0.0_MultiDynamics_arc_13_0.227_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3061/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ed8bd4171fb0a59b34f0d105a93c180b6f17ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3061/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.5_0.0_MultiDynamics_arc_14_0.211_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3062/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f59ece32a265eb20b800ff799968f3f9b4ab7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3062/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.6_0.0_MultiDynamics_arc_16_0.184_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3063/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12443e089aee1526cfb89886b2ec97b2cf80665e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3063/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.7_0.0_MultiDynamics_arc_16_0.184_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3064/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad2c45318cd1cf77ad4846c2dad32f5de9cb225
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3064/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.8_0.0_MultiDynamics_arc_17_0.174_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3065/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b3d794eb756a9cf5fb4577947135d137f8a4b60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3065/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_1.9_0.0_MultiDynamics_arc_18_0.164_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3066/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a12d6f98aca278c7df03330fdbbbe8cb61faf77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3066/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3067/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..292a0d1689520bf6bd4dacab5e994b6c6043492e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3067/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.4_2.0_0.0_MultiDynamics_arc_19_0.155_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3068/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40405808cbc1d24f6d8ee1b6362ed51c2a60ed9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3068/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3069/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e144475764195a20038874ac6890822ece7cb0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3069/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-0.8_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_307/meta.json b/RH5_dataset_threads_5000eps/frames/episode_307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40984a1d70844e978503e213cb8fca74db1d463c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_307/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.062",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.493,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.4_0.0_0.0_MultiDynamics_3_0.493_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3070/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7a8247fc2a327d129a4f527a2f6f0a6a3ce56ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3070/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-0.9_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3071/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc5e05256cb6e7053c5b78a22ed864819bda84f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3071/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.0_0.0_MultiDynamics_arc_9_0.339_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3072/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e00ca8778070638663db32d3804d317e28d9f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3072/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.1_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3073/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..500f171071e605874016e622fb3bf6c9c83f0aca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3073/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.2_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3074/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e121e6fe2b97b077bb57e1967730d0f7aac021
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3074/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.3_0.0_MultiDynamics_arc_12_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3075/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b77c7d50be0dfd478b9f5884967629ebe50ef32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3075/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.4_0.0_MultiDynamics_arc_13_0.235_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3076/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b858656b9ebaebac9aaa12b75692b0469eb7cec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3076/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.5_0.0_MultiDynamics_arc_14_0.218_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3077/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..619dbb0984c56d92e2a2101b2324f431c8d38d51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3077/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.6_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3078/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aece38a53eea61b0e3fed855ce9947d3b92e34e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3078/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.7_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3079/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..499b2c7874295c0712a26ffa9836466661d91cfd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3079/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.8_0.0_MultiDynamics_arc_17_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_308/meta.json b/RH5_dataset_threads_5000eps/frames/episode_308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc38e504a1e811cdbac0c12fb1689cbca4337b78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_308/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.062",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.527,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.5_0.0_0.0_MultiDynamics_3_0.527_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3080/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4443329c08862cc63a13d954b2192bd695a0cdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3080/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-1.9_0.0_MultiDynamics_arc_18_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3081/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8329c78fdfd55c7a40703ac428dc694ef87400e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3081/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3082/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a7a1186f2a7127f7a3abeea25aec204dcc9aab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3082/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_-2.0_0.0_MultiDynamics_arc_19_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3083/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86592063ebb5a83d3c9b06f90997e05506db7963
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3083/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3084/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..255e7dab9eaeabeb3d30eced11dcc15f8ee95f00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3084/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_0.8_0.0_MultiDynamics_arc_8_0.381_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3085/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f947d46104c532e3408aab200ea8539e5d242f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3085/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_0.9_0.0_MultiDynamics_arc_8_0.381_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3086/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dbd60352fb61d3b54a585a86cc84921cddba1e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3086/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.0_0.0_MultiDynamics_arc_9_0.339_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3087/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44d1a9e74b64ea8ade9c0aa23c54aff27a963ec2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3087/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.1_0.0_MultiDynamics_arc_11_0.277_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3088/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f22b01e21e2702f09500ba980bb3bf1afc3b07b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3088/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.2_0.0_MultiDynamics_arc_11_0.277_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3089/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfec4f063a87ecb83a72d24cf1c03bcfe7cc6adc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3089/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.3_0.0_MultiDynamics_arc_12_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_309/meta.json b/RH5_dataset_threads_5000eps/frames/episode_309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d524dea5e28d0f44512af5895c7e53477732bbf3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_309/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.062",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.56,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.6_0.0_0.0_MultiDynamics_3_0.560_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3090/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e78230329af04adbf859293ee0a710aa717bc55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3090/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.4_0.0_MultiDynamics_arc_13_0.235_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3091/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b9ae8fd32616809e62e185bc8ee9cfce7184964
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3091/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.5_0.0_MultiDynamics_arc_14_0.218_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3092/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2695ba5a3434801fd3cf6ba391690cebebf222c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3092/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.6_0.0_MultiDynamics_arc_16_0.191_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3093/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2fcc7cca7fa98018877a989b6a7be2b94f80dd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3093/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.7_0.0_MultiDynamics_arc_16_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3094/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce578952831475c1e15bf1d0ea8fe1e61ef12140
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3094/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.8_0.0_MultiDynamics_arc_17_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3095/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc9113086337ffc89eb901a2ef3dfc0b06a1477
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3095/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_1.9_0.0_MultiDynamics_arc_18_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3096/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b222c26cda06c2388cd4d27a6917a5c49889a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3096/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.5_2.0_0.0_MultiDynamics_arc_19_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3097/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0dda5b1876f31345764b86a8feccfdd4ee0a53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3097/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3098/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85419df05432663ecf91720e8b237fa63814fa82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3098/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3099/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef1e2c44c50ed5608644680a1fe8b9897b3593e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3099/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-0.8_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_31/meta.json b/RH5_dataset_threads_5000eps/frames/episode_31/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c2e61b6eb7baec479ec4f49f6bf53984a6baf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_31/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.543:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_3.8_0.0_0.0_MultiDynamics_6_0.543_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_310/meta.json b/RH5_dataset_threads_5000eps/frames/episode_310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dcba0e7cb50548f14673155459ec74d7bde7e03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_310/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.062",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.593,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.7_0.0_0.0_MultiDynamics_3_0.593_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3100/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff7e6f0fa530984a0121380a640619175489630c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3100/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-0.9_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d37932919c50e1830407f4d95ed9fda7ea758c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3101/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.0_0.0_MultiDynamics_arc_9_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1909a38721867411ee52ffc9003d50b866e788a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3102/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.1_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c135292378080cf01b6319154ecc65aa8d5cd4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3103/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.2_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f73a6640b52362a3ffac56eeca59567dc3e9807
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3104/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.3_0.0_MultiDynamics_arc_12_0.263_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d6ff8feb36317e2f47c3c17346eaef67ce69e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3105/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.4_0.0_MultiDynamics_arc_13_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ad8196bbef8c6e4eccec86d5bfee986296a95c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3106/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.5_0.0_MultiDynamics_arc_14_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46eb75ae8caf88d2aea855be75939ee7c4170ade
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3107/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.6_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b756feed2a625b11d71bbb36d6143def55602132
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3108/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.7_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e810349cbf4168d00ae0297619cb387a7d1feb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3109/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.8_0.0_MultiDynamics_arc_17_0.185_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_311/meta.json b/RH5_dataset_threads_5000eps/frames/episode_311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e136bf413c9fe6ceeae8c872b0ccc6df31dd16bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_311/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.062",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.627,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.8_0.0_0.0_MultiDynamics_3_0.627_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4c247cb1b977b806f07e24900c1f309a1766cc5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3110/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-1.9_0.0_MultiDynamics_arc_18_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6598d90e7384cdd5d7f86954c80253f66c63768
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3111/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..633f6cd137ffef97c05e0724b7bbad880b3ef7c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3112/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_-2.0_0.0_MultiDynamics_arc_19_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8889cc4ae0f1ec95915fef6c1c346265feaa51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3113/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1de7511e5d25eb4c0267ae316e5ccff7684469
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3114/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_0.8_0.0_MultiDynamics_arc_8_0.394_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01cb0e03f0901704778b5f9ad335c285a4854b1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3115/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_0.9_0.0_MultiDynamics_arc_8_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b901fa09ad9108ad74b48d4d1013ec8899fe55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3116/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.0_0.0_MultiDynamics_arc_9_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44101a287cdb20e719d3aba5d06e258586f20bc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3117/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.1_0.0_MultiDynamics_arc_11_0.286_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60164d6712414885016ec916c5a58529dab7f8d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3118/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.2_0.0_MultiDynamics_arc_11_0.286_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e33699ceb73592891105ff6c522ecc44bf06d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3119/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.3_0.0_MultiDynamics_arc_12_0.263_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_312/meta.json b/RH5_dataset_threads_5000eps/frames/episode_312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddbecf35c238b55a8731ba6f2148c4f27ae7aa55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_312/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.062",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.495,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_1.9_0.0_0.0_MultiDynamics_4_0.495_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd135b1cd771292e8df4231d765b1c36669a32b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3120/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.4_0.0_MultiDynamics_arc_13_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d88855985ea989a3785ecb24ccb750fdc4ac47fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3121/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.5_0.0_MultiDynamics_arc_14_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3a12e88b02ec751ff3d126ab42093952db32a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3122/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.6_0.0_MultiDynamics_arc_16_0.197_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb94e3a4eb248db2ce6298ada8611857af4b928
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3123/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.7_0.0_MultiDynamics_arc_16_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..648c3f8697d1ea466812c5d79ae273d926e27f3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3124/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.8_0.0_MultiDynamics_arc_17_0.185_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b4adc30fbb993fcfc7ddc98ef6e963c153dbcd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3125/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_1.9_0.0_MultiDynamics_arc_18_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..857802122af964361f99a3ce1ae1a3d238409d6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3126/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9522fc566d0b47e17fa3ee08efea7094a17a61a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3127/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.6_2.0_0.0_MultiDynamics_arc_19_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..789cc1645cb454297051187f0d15c260cb088cc6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3128/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc36e71294bc0f44b068ad22ad85b94452512c3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3129/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-0.8_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_313/meta.json b/RH5_dataset_threads_5000eps/frames/episode_313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..686368fb8247da6deef5968a127dae9b68f34884
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_313/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.062",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.52,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.0_0.0_0.0_MultiDynamics_4_0.520_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f18f435b191092076b6d1601e823f240d5b8423
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3130/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-0.9_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..024fd522d72107f66a972e58ed80497117850abf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3131/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.0_0.0_MultiDynamics_arc_9_0.361_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bdf5a40f1a20f5159b1bd0d1313e5176fc4c496
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3132/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.1_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..032893fbbb2ef5f5ce4c54a5e3cf68bb51f300dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3133/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.2_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61738adc9ef83a6441b140dd9b9f91ca4ca64c55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3134/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.3_0.0_MultiDynamics_arc_12_0.271_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4618a9e36feabf1ecc3ca6d327dd6cb3d23ee3fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3135/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.4_0.0_MultiDynamics_arc_13_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..689631f9c9e2065d68cc0cb9efaeade357983566
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3136/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.5_0.0_MultiDynamics_arc_14_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ccdedea277cda5e5e1247e8219e9cb3789effe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3137/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.6_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee514450e2dcf1aefda5b17055cad423895791f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3138/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.7_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c0da49ce1f48e107a8a62c01080e3df6bd7f6c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3139/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.8_0.0_MultiDynamics_arc_17_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_314/meta.json b/RH5_dataset_threads_5000eps/frames/episode_314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd507584b6a4404a70b8ce62a06d474edaa802c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_314/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.062",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.545,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.1_0.0_0.0_MultiDynamics_4_0.545_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad971d427bed6936e85b3c514a73e872926bdb53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3140/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-1.9_0.0_MultiDynamics_arc_18_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b17d3649e267c2e6d6ef12e8672a59d292f3261
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3141/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4df2c076ba04316e9c4ece2956708aa55552413
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3142/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_-2.0_0.0_MultiDynamics_arc_19_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b1e119f26377a5eef48866fd2a3ae24f11bc14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3143/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc590dc36cde73db61287763a4081d9a8cbb409f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3144/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_0.8_0.0_MultiDynamics_arc_8_0.406_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e95c60c9aa1c374cfa5b490b92250736a54d2df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3145/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_0.9_0.0_MultiDynamics_arc_8_0.406_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeae48515772d3618684a2dea8bcf4191b4cbaff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3146/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.0_0.0_MultiDynamics_arc_9_0.361_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afda50c5cceaf170bc6ecc2c32d181282a9c32d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3147/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.1_0.0_MultiDynamics_arc_11_0.295_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43707757a12e17a2823cba26774ba76f731d92bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3148/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.2_0.0_MultiDynamics_arc_11_0.295_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..152fc70018113c8371cb1587ae48f86bf7122b01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3149/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.3_0.0_MultiDynamics_arc_12_0.271_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_315/meta.json b/RH5_dataset_threads_5000eps/frames/episode_315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a623fc3160b2e3954e4b4550efe6374403d6535d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_315/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.062",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.57,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.2_0.0_0.0_MultiDynamics_4_0.570_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4e63f79820e8d15b50ba829282f03cea9470cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3150/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.4_0.0_MultiDynamics_arc_13_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3263c487745563bfdc3e3723f8d2c30a14f67b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3151/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.5_0.0_MultiDynamics_arc_14_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77e0965b75642520b2e2ddce95d608e1807ab04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3152/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.6_0.0_MultiDynamics_arc_16_0.203_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd60efb929752c4cc94140dbef82cbca0e5540e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3153/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.7_0.0_MultiDynamics_arc_16_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b70fa5084f6fb4dce18f3109ad112cc21127f7e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3154/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.8_0.0_MultiDynamics_arc_17_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9430ab5bbddff2390c3da7f184a81adce55dd39b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3155/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_1.9_0.0_MultiDynamics_arc_18_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..786ed8d3a588e4bd5d3e355212eddaf51d355688
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3156/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec0954b0c4e2b857f8f628accf15cd93c5fa8d27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3157/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.7_2.0_0.0_MultiDynamics_arc_19_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd9a88bf25b02b6144dce89a410ba11200a3ad78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3158/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..514784258b6b20c854afa27dcb2534af7fabb97b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3159/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-0.8_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_316/meta.json b/RH5_dataset_threads_5000eps/frames/episode_316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4e066aa217f19a671367033ff7aec92e55c8a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_316/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.062",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.595,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.3_0.0_0.0_MultiDynamics_4_0.595_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca663c2cb0f00387d771e89893c773269420aab8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3160/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-0.9_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8edac856d5766e71c3389a99d29537963ea2df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3161/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.0_0.0_MultiDynamics_arc_9_0.372_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71dc038db0d9fc1cc23ec32015ef4901e57d3911
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3162/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.1_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc49cb4d294a03198f7a7b4617ccce57f6c9f6e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3163/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.2_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abeb047032cda0b58924fdfb460d50383494a3d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3164/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.3_0.0_MultiDynamics_arc_12_0.279_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3d3c719b6bb368701a9183683bad7686b3833b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3165/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.4_0.0_MultiDynamics_arc_13_0.258_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..609c251ff2e07c4490af5802cac7b6ce0e15f124
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3166/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.5_0.0_MultiDynamics_arc_14_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8318927ee1378143f94f8f8f6aa782a61b8d13d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3167/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.6_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..267197021a17508b8ed9162d1485a9d4ca821895
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3168/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.7_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4500396cb138712432c06d806e9663b206f54273
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3169/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.8_0.0_MultiDynamics_arc_17_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_317/meta.json b/RH5_dataset_threads_5000eps/frames/episode_317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75bdb6263347837433e398df3b164687202f7b38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_317/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.062",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.62,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.4_0.0_0.0_MultiDynamics_4_0.620_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a73f5394ef833b7d6597abcc9d327a07b7e2fcd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3170/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-1.9_0.0_MultiDynamics_arc_18_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa6349badec04e298d8b70bba3e29923daade7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3171/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04028354d4bcd08f9e3bde7c34e73d8ea0ecef51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3172/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_-2.0_0.0_MultiDynamics_arc_19_0.176_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5aba9017ee3dc04f8ef685c7b40b8ebcf3d85e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3173/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7558e33d4130ea181f9dfe241a56f22b5c0ad0b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3174/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_0.8_0.0_MultiDynamics_arc_8_0.419_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4eb4a8890089f9dfadc44b5ce37d268784d9af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3175/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_0.9_0.0_MultiDynamics_arc_8_0.419_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9180e4b7da5fb28b6cab6dfd4161a6a5a5af8c06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3176/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.0_0.0_MultiDynamics_arc_9_0.372_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ba60b24a3eba7da824db7256264aeef1b83d0c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3177/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.1_0.0_MultiDynamics_arc_11_0.305_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee82311be1a6320de71ce1a662638cff3150879f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3178/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.2_0.0_MultiDynamics_arc_11_0.305_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e676aded314dc30f25837ad2f860b56026760e8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3179/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.3_0.0_MultiDynamics_arc_12_0.279_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_318/meta.json b/RH5_dataset_threads_5000eps/frames/episode_318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d130a0c31cd0d64a0e40bb52378c720396d24b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_318/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.062",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.516,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.5_0.0_0.0_MultiDynamics_5_0.516_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6a5bb0ecf28748c23726cc2bfadd5ee3d846ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3180/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.4_0.0_MultiDynamics_arc_13_0.258_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..094eae791574bb5ecb90c14949804c6447ac5d70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3181/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.5_0.0_MultiDynamics_arc_14_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd97c4f77ca0ba5d731af1145830e3cf02f48f40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3182/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.6_0.0_MultiDynamics_arc_16_0.209_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eacd3be290a6a2040aafa8b47455a0fab7e6982
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3183/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.7_0.0_MultiDynamics_arc_16_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c64754999476495ba8d35ba331a7aa0fb6993e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3184/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.8_0.0_MultiDynamics_arc_17_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d002ff81b3de1f5a5f4e13e0ed488cffdcf6200
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3185/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_1.9_0.0_MultiDynamics_arc_18_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..505b67075c50ed1cafc5ff9f1441094ae84d7fd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3186/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb215ad8049396e82fb62cec97dc669e0ec1c329
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3187/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.8_2.0_0.0_MultiDynamics_arc_19_0.176_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4716f6d09cdf5b5edbc5c36a68af76d736608d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3188/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeab69c9339e7a949637985c7a893b6b9adacc7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3189/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-0.8_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_319/meta.json b/RH5_dataset_threads_5000eps/frames/episode_319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf19d8f88d567c9d0f3d29008865bb5914267db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_319/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.536,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.6_0.0_0.0_MultiDynamics_5_0.536_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc75f64b0de73488acf96923b7f39de384478a67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3190/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-0.9_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..781fc34f1f521878f55f82fdc6ec01b96348e3e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3191/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.0_0.0_MultiDynamics_arc_9_0.383_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..444ca2d2e22c7f68c065d7b3c34eabd225083696
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3192/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.1_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5a5eb349fe54bd171d56607cb97f806f4c628d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3193/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.2_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fef45e8feff7dbe2c6b7eb31e973e120a674939
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3194/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.3_0.0_MultiDynamics_arc_12_0.287_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0125d77ebb1bb444ec4ea72fad68d9c2e42b3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3195/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.4_0.0_MultiDynamics_arc_13_0.265_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e2d69106a9887fd000da26ae872b51e32b0316
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3196/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.5_0.0_MultiDynamics_arc_14_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9193e7bdd27d8fde30679ba328552caaeb5332ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3197/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.6_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe595a932d97c20c9cbf5026e6b21eff158b1249
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3198/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.7_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3102cd45f9e3c14d971be1eb45651bc0708b31d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3199/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.8_0.0_MultiDynamics_arc_17_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_32/meta.json b/RH5_dataset_threads_5000eps/frames/episode_32/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d288ed71ac4e780f6deefb3a107f173472d82ecb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_32/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.2_0.0_0.0_MultiDynamics_1_0.695_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_320/meta.json b/RH5_dataset_threads_5000eps/frames/episode_320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a6f728822dbf4b316b8d51196ea11af439f55f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_320/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.062",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.556,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.7_0.0_0.0_MultiDynamics_5_0.556_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..155e2cc5c084f251570065bdaf8af2ef60e0dc04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3200/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-1.9_0.0_MultiDynamics_arc_18_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c221afd8275bdcaa826f35534d31182a1e97ca9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3201/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (3.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8102eae493dbba144a532efbf2990c4bd3e77676
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3202/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_-2.0_0.0_MultiDynamics_arc_19_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe8e49539820847d0cce4ee5357485adca38b23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3203/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (3.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bef7797192fa60adf8143f108b92e48d6f72c7a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3204/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_0.8_0.0_MultiDynamics_arc_8_0.431_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a99247810014ef2760f5b3356c3b6f8ada5ac9c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3205/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (3.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_0.9_0.0_MultiDynamics_arc_8_0.431_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a8344ef2a8c1efd29c3acb6d1157f293e3b402
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3206/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (3.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.0_0.0_MultiDynamics_arc_9_0.383_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..089605a3a14bafab9561daf3c6307693a7a8b97a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3207/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.1_0.0_MultiDynamics_arc_11_0.314_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92443294e74005063d1661d914ad96f4a5d009ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3208/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (3.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.2_0.0_MultiDynamics_arc_11_0.314_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..696817b5fe1321ec9cc0e9140b0d9d3be018cadb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3209/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (3.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.3_0.0_MultiDynamics_arc_12_0.287_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_321/meta.json b/RH5_dataset_threads_5000eps/frames/episode_321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d73b86ee68889473dc7bffd525d7b9075f691af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_321/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.062",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.576,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.8_0.0_0.0_MultiDynamics_5_0.576_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1841b11d1e28d34539c19aa08761bb5ac1b9deb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3210/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (3.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.4_0.0_MultiDynamics_arc_13_0.265_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80bf4abd7fccf0f0d5721c6da0c9556cbba9b11f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3211/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (3.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.5_0.0_MultiDynamics_arc_14_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc158ee3add53aca76809be5156fb4beecbc474e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3212/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.6_0.0_MultiDynamics_arc_16_0.216_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccd48ca6493a2e9d1adced650f6fd6e98a0e466
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3213/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (3.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.7_0.0_MultiDynamics_arc_16_0.216_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8cdc7d00c259700a8a42cd11cfb8c80b8ad6c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3214/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (3.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.8_0.0_MultiDynamics_arc_17_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e994250b0fccbafd5f3fa2baf9c6b6dca5732dc1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3215/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (3.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_1.9_0.0_MultiDynamics_arc_18_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9871a3dd3e01e946b6ab9a72791e81098e42459d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3216/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (3.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_3.9_2.0_0.0_MultiDynamics_arc_19_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1491af75cdb33a64cde6f6b0f8108cfacfb4d8a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3217/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (4.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99c7a4fe3c8052339b6966e7837a6720394abb7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3218/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (4.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b3d774124eb22e34547a0208303ce804cb71874
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3219/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (4.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-0.8_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_322/meta.json b/RH5_dataset_threads_5000eps/frames/episode_322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f38341a1ea87b0ababb753c968b222f58ae9a00c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_322/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.062",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.596,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_2.9_0.0_0.0_MultiDynamics_5_0.596_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a4439357c21b71852852c17489180b05649327
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3220/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (4.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-0.9_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03700b34e0b82af905b7412f8de4969f66906a7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3221/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (4.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.0_0.0_MultiDynamics_arc_9_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c771ea46ccaee772e9df37af5e019a15cade9630
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3222/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (4.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.1_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f271c4d4140f5977f0dd6332f2729aab77009112
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3223/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (4.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.2_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e8d4e536c98dc3d4dda26e8d6845da64f28181
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3224/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (4.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.3_0.0_MultiDynamics_arc_12_0.296_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf13bc6566a848745b4f08c4ae4355b0a3ce3c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3225/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (4.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.4_0.0_MultiDynamics_arc_13_0.273_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c49ee508c9f0b64c65d91b842c4a7ba0b5e5b97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3226/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (4.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.5_0.0_MultiDynamics_arc_14_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a48850e59d45b4f945375d72e62791b2bea09364
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3227/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (4.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.6_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8e80c27ad15bca21bbcd6c0f245fbf6d6ce958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3228/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (4.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.7_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..119a4b8be29fb99daf566cc3447521a104a44714
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3229/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (4.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.8_0.0_MultiDynamics_arc_17_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_323/meta.json b/RH5_dataset_threads_5000eps/frames/episode_323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..079bef2d28cb1c3cfbc55f270adc6d666b41e162
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_323/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.062",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.616,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.0_0.0_0.0_MultiDynamics_5_0.616_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7304b31d736c31a726fc78d23f03e1a77a0f3c72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3230/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (4.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-1.9_0.0_MultiDynamics_arc_18_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d3fadac3ec50d8aefc63bd5e40110c22e24c7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3231/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (4.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_-2.0_0.0_MultiDynamics_arc_19_0.187_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4817403be5da6eae9fdba0021f22227b1e3e040a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3232/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the purple box at <DIST> (4.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd714d6ed71a8a43d0b0dc6b10af50f7a8b277ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3233/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the purple box at <DIST> (4.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ba07a0fd3ed459fe4cf3b9856cf6ffde926f22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3234/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (4.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_0.8_0.0_MultiDynamics_arc_8_0.444_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b924db4492a69561a4a59ed0faf2b07cbbd722
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3235/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the purple box at <DIST> (4.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_0.9_0.0_MultiDynamics_arc_8_0.444_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b3d3b2de31241074728434bc83c5b5795205af4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3236/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the purple box at <DIST> (4.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.0_0.0_MultiDynamics_arc_9_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e4cdbb4b965c60cc2c324e38384706b1772462
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3237/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (4.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.1_0.0_MultiDynamics_arc_11_0.323_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74bc0a91cc3321faf4f2e41bc73526aab478c2f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3238/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the purple box at <DIST> (4.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.2_0.0_MultiDynamics_arc_11_0.323_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc70cf295fad5d488d3f0159dd436d3cd0fb94b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3239/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the purple box at <DIST> (4.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.3_0.0_MultiDynamics_arc_12_0.296_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_324/meta.json b/RH5_dataset_threads_5000eps/frames/episode_324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b89bd28b52ad8a5c65c861410853b6f2745b6708
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_324/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.53,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.1_0.0_0.0_MultiDynamics_6_0.530_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b6de326d0adfde09dfc1a0fe27a88c56306d60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3240/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the purple box at <DIST> (4.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.4_0.0_MultiDynamics_arc_13_0.273_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d7e50df7c97a946a70f62b5b535c62292bc6ec0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3241/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the purple box at <DIST> (4.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.5_0.0_MultiDynamics_arc_14_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19ad603bf0830e71c50083aa82572b4a4a949f1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3242/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (4.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.6_0.0_MultiDynamics_arc_16_0.222_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ee0a7a559416f209e2b1d8599a571019b54f27a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3243/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the purple box at <DIST> (4.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.7_0.0_MultiDynamics_arc_16_0.222_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fab15ea875a604b7202ff33013fe21dd04dbf6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3244/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the purple box at <DIST> (4.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.8_0.0_MultiDynamics_arc_17_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d6bb1c6b260328e804be019ac277cad32f7e57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3245/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the purple box at <DIST> (4.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_1.9_0.0_MultiDynamics_arc_18_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3246/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..010fe233f172f492920864009aa66a4ca0ed568a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3246/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-0.6_0.0_MultiDynamics_arc_5_0.110_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3247/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7312ae875c0a7e47472700aff9bcdd07b8554f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3247/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the purple box at <DIST> (4.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/purple_4.0_2.0_0.0_MultiDynamics_arc_19_0.187_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3248/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7eaf0e679dc9b24e4f2a55557dbb5f89e994763
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3248/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-0.7_0.0_MultiDynamics_arc_6_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3249/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6147b866017c9aa3ce5f23289e36aadcb0a5c19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3249/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-0.8_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_325/meta.json b/RH5_dataset_threads_5000eps/frames/episode_325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7057dbbb7be87f26a29c64c78ac7cdaee0e63d96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_325/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.062",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.547,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.2_0.0_0.0_MultiDynamics_6_0.547_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3250/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7686f13324bd7c2b2b9cfb716b79fca77dd49206
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3250/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-0.9_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3251/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20bed85d9e3a321092849fefc3c3d3e7bb8e9611
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3251/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.0_0.0_MultiDynamics_arc_9_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3252/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00b8d055220629a67d2a376a2ab531b2300e3ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3252/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.1_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3253/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25aa68241ae83efd5cf04d519648a5e623dc6dd8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3253/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.2_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3254/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5775a4b4adb64c58ac0473e4302b4ef3835ab1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3254/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.3_0.0_MultiDynamics_arc_12_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3255/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1192cbbb24f62a40d2cdae853acacec5878ea85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3255/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.4_0.0_MultiDynamics_arc_13_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3256/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a96aeb492876400f8695e82d0d089ea5bf56a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3256/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.5_0.0_MultiDynamics_arc_14_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3257/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b5fd42a469a39af52cb859f34d967bb40098514
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3257/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.6_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3258/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f582305a7839e55137ba2493b72811e035d7e16b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3258/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.7_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3259/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1b997e15289d8a30f21fff78205788aac2d88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3259/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.8_0.0_MultiDynamics_arc_17_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_326/meta.json b/RH5_dataset_threads_5000eps/frames/episode_326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf54393fb46610d1d70e85139852255f0534b92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_326/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.062",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.563,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.3_0.0_0.0_MultiDynamics_6_0.563_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3260/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d230d4809f88e50dcde045b5d053784cd25d005f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3260/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-1.9_0.0_MultiDynamics_arc_18_0.031_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3261/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dea647e99ae82850de28f1b4767689a96a19d58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3261/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_0.6_0.0_MultiDynamics_arc_5_0.110_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3262/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..294cc0b2c0477af46306e678bee6fe02a8baae5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3262/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_-2.0_0.0_MultiDynamics_arc_19_0.029_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3263/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0998bd36d192fe055ecdf374bccc7eaa59b2944
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3263/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_0.7_0.0_MultiDynamics_arc_6_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3264/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..102d89bad258a7c447b42327fa946b931ab1ee99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3264/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_0.8_0.0_MultiDynamics_arc_8_0.069_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3265/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..177cff953278e1417bbbccd1282e3bad4a8a7c7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3265/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_0.9_0.0_MultiDynamics_arc_8_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3266/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a65f78b3974ec63e958e8cc609cfe7d0921d59a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3266/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.0_0.0_MultiDynamics_arc_9_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3267/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfaf3093361ed823082e5a7e8256c3063693fd6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3267/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.1_0.0_MultiDynamics_arc_11_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3268/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac6e27f31e4edbb47719022a73ff3b44e6bc494
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3268/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.2_0.0_MultiDynamics_arc_11_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3269/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0206f850d7888dc603fad010b06cbe163c918415
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3269/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.3_0.0_MultiDynamics_arc_12_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_327/meta.json b/RH5_dataset_threads_5000eps/frames/episode_327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7277770450aded5871f9d6783368b1d29b812f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_327/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.4_0.0_0.0_MultiDynamics_6_0.580_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3270/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bedd21cb8c4b763e7532753fc5449c33540ec551
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3270/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.4_0.0_MultiDynamics_arc_13_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3271/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..384e6827b393cda5278c5d8e63c9d55bee574692
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3271/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.5_0.0_MultiDynamics_arc_14_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3272/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80683554409c13c664400e848a48fe577c81cf74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3272/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.6_0.0_MultiDynamics_arc_16_0.034_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3273/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8035123e11ddad69671b44c903c63da0b18cd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3273/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.7_0.0_MultiDynamics_arc_16_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3274/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2157c3a6edc95fc8152b12d41a5eb2e11c0e7be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3274/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.8_0.0_MultiDynamics_arc_17_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3275/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebf79dfc60e78d1cad9082681726141f50c45ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3275/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_1.9_0.0_MultiDynamics_arc_18_0.031_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3276/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e6c278980346934ddea23f2ebd7c92480c7755f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3276/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-0.6_0.0_MultiDynamics_arc_5_0.130_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3277/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0fb17e190e057d3ec862554a0d39e4a8d5d77dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3277/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.0_2.0_0.0_MultiDynamics_arc_19_0.029_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3278/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42566962bd3928ca48197e4e74faf17f1cfe55cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3278/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-0.7_0.0_MultiDynamics_arc_6_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3279/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a1fc591ef75210b8e6db00f9cfbfda7f3651e46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3279/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-0.8_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_328/meta.json b/RH5_dataset_threads_5000eps/frames/episode_328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3588690a9856a9f85a0db750981572af2302862
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_328/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.062",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.597,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.5_0.0_0.0_MultiDynamics_6_0.597_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3280/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bc52a63a265bb4a74809d935d20eab41442286
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3280/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-0.9_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3281/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..883f24835700784004e481ed6f4794cfe2988231
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3281/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.0_0.0_MultiDynamics_arc_9_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3282/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a0268beb8a109d4df12fc8e4935633c1e89825
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3282/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.1_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3283/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84440205c08cfea26a7b4acf1b65fa13d40b4088
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3283/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.2_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3284/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0b480bba3e43d612b386b36c8eaca6dc7534d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3284/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.3_0.0_MultiDynamics_arc_12_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3285/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..867bb521969fc0184a69afe27e043b1399bc6da1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3285/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.4_0.0_MultiDynamics_arc_13_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3286/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2a29f125a156513be94f623bd61bde445f7e14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3286/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.5_0.0_MultiDynamics_arc_14_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3287/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..102f7e70705b5d45779b4de2ace4467a1bcdaefc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3287/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.6_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3288/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c98e2bf3bcfb10d690a9fcd80b5b9a8ed89c43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3288/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.7_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3289/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7857e8f40ee1ad1860fd5130d833c1e04bfa70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3289/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.8_0.0_MultiDynamics_arc_17_0.038_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_329/meta.json b/RH5_dataset_threads_5000eps/frames/episode_329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f6f3d5a9091d25e7e1f060c17674c38c07a63da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_329/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.062",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.613,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.6_0.0_0.0_MultiDynamics_6_0.613_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3290/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a985287dcd6c9ad9bba0acba21377bd8b81da56c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3290/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-1.9_0.0_MultiDynamics_arc_18_0.036_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3291/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc900435b1844cb9e77f27083e9d0d8ef794ea1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3291/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_0.6_0.0_MultiDynamics_arc_5_0.130_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3292/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b497172dde8fccbcac3772234fa4732ba7caab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3292/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_-2.0_0.0_MultiDynamics_arc_19_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3293/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1241e2557cb2cf10809a3cd6ea88482e2b0ecc07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3293/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_0.7_0.0_MultiDynamics_arc_6_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3294/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3f21f4577d40937e8ab4aa2bf825afe2db005cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3294/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_0.8_0.0_MultiDynamics_arc_8_0.081_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3295/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d129de181a74ae066fc2dbb2d5fef65bc24beb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3295/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_0.9_0.0_MultiDynamics_arc_8_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3296/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2333b8769d9639f0a577110b8f9a98e5a7c55843
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3296/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.0_0.0_MultiDynamics_arc_9_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3297/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d1031e60cd5845fc4c2e0c3904e83ea18a1cad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3297/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.1_0.0_MultiDynamics_arc_11_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3298/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a77f5882fff56c9d10a6ccbe436e825b09fbbe97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3298/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.2_0.0_MultiDynamics_arc_11_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3299/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87aaa527767191746d942ae5b808564bb483db21
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3299/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.3_0.0_MultiDynamics_arc_12_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_33/meta.json b/RH5_dataset_threads_5000eps/frames/episode_33/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef7c94050885487fca49392f55f2ea8b6608312
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_33/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.062,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.3_0.0_0.0_MultiDynamics_2_0.350_0.062_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_330/meta.json b/RH5_dataset_threads_5000eps/frames/episode_330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b00c109830f3ed7c03a0cd5182cfc9b6d5e5032c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_330/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.062",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.63,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.7_0.0_0.0_MultiDynamics_6_0.630_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3300/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2971128c81dedac352129d9e7e327202b7fb0a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3300/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.4_0.0_MultiDynamics_arc_13_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3301/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcd8a89234e93412923a4a802e3aafd35e81e234
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3301/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.5_0.0_MultiDynamics_arc_14_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3302/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..855081d68e3fa621113de52170eaa93dca00bf57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3302/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.6_0.0_MultiDynamics_arc_16_0.041_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3303/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc647d96ddc7e1a66bee59118e39505f8abaf13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3303/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.7_0.0_MultiDynamics_arc_16_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3304/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..022be8180dce3b5fe5f43e0f4f658098b964997e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3304/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.8_0.0_MultiDynamics_arc_17_0.038_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3305/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64bdac503186f3c2ea64c7e1377905c0e96734a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3305/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_1.9_0.0_MultiDynamics_arc_18_0.036_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3306/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b826579d00c7b7b0e8cda26c5c6ae34d2843a37f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3306/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-0.6_0.0_MultiDynamics_arc_5_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3307/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b10efcf916c42203fa583b32f72efddf520ff06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3307/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.1_2.0_0.0_MultiDynamics_arc_19_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3308/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d601be7738acedde8f486794672d391058dec8d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3308/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-0.7_0.0_MultiDynamics_arc_6_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3309/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ae48dee93074e3d1d036b143e09a86947b0772
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3309/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-0.8_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_331/meta.json b/RH5_dataset_threads_5000eps/frames/episode_331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2712c9f13eedbd5bc434ef0ebc4d83c0056e5891
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_331/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.062",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.554,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.8_0.0_0.0_MultiDynamics_7_0.554_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3310/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45cf830e68116d83137aa6c2e6bcab98047e720
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3310/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-0.9_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3311/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46304b7e9ed7dc1ad5d635828c0fad45a6d77ef8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3311/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.0_0.0_MultiDynamics_arc_9_0.083_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3312/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b09f25e24a8e4fd8d43270e597d3a722c08fcc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3312/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.1_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3313/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba499a7b9a18c9154facdc84f5ad358892045e4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3313/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.2_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3314/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ced9cab415defeb6de9bfaaec1446b04a630c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3314/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.3_0.0_MultiDynamics_arc_12_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3315/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..437ae041d31b07929f3fd48a267152bb3a0030b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3315/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.4_0.0_MultiDynamics_arc_13_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3316/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..384dbe23ee1bd183ccbca4d887d6a6fc37505ef4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3316/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.5_0.0_MultiDynamics_arc_14_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3317/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b308c74d1a1b92d71b2d32564b808fdf7c467888
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3317/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.6_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3318/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..654cc787ad51e30d7c3a87bf58ee8513033b48fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3318/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.7_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3319/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6927a35fdacac85acb70c428b1ec54de70fd46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3319/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.8_0.0_MultiDynamics_arc_17_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_332/meta.json b/RH5_dataset_threads_5000eps/frames/episode_332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc6ddd29d98146bd5a1fce49d2b440122382d692
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_332/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.062",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.569,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_3.9_0.0_0.0_MultiDynamics_7_0.569_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3320/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59f89e352dce7cb5a1bfb5e60dcd56b64c26c817
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3320/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-1.9_0.0_MultiDynamics_arc_18_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3321/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60aeea424dfdc29dd58cd959c1ed1b5cf82e40a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3321/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_-2.0_0.0_MultiDynamics_arc_19_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3322/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21be12a3ebb91f6dca2ed237bfd31eab8e114d80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3322/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_0.6_0.0_MultiDynamics_arc_5_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3323/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddd85fbe6d28bd9128b2471869529b1d9c43e13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3323/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_0.7_0.0_MultiDynamics_arc_6_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3324/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78271145b447390842ee231abaa3996dbfcf68ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3324/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_0.8_0.0_MultiDynamics_arc_8_0.094_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3325/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4410b2d4180d461c1c13c8ed1eaea5f635ea187b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3325/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_0.9_0.0_MultiDynamics_arc_8_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3326/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..556eac4cdbef85ad9798269da048b934a1942b36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3326/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.0_0.0_MultiDynamics_arc_9_0.083_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3327/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3998993b603cf5db5bc55f6baa042ca9e9a581c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3327/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.1_0.0_MultiDynamics_arc_11_0.068_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3328/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..792ee8368020fea4c2073c98025397c03a89a64f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3328/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.2_0.0_MultiDynamics_arc_11_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3329/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64a9d646fe556633533856b31bec6378f123487
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3329/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.3_0.0_MultiDynamics_arc_12_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_333/meta.json b/RH5_dataset_threads_5000eps/frames/episode_333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b8d9606a43732d0158375f1aee511f54eab60a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_333/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.062",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the blue target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/blue_4.0_0.0_0.0_MultiDynamics_7_0.583_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3330/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4976eaccd42d42f6cef7b03b44126c29620f7acd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3330/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.4_0.0_MultiDynamics_arc_13_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3331/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3c48a9546a1cd58691ab4e65215513d1bfb422
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3331/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.5_0.0_MultiDynamics_arc_14_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3332/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33971090125f3cce7e9f8116d0403bffaa6e7f59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3332/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.6_0.0_MultiDynamics_arc_16_0.047_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3333/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f090414c53e51153e1d21c81eff9f02442d20437
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3333/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.7_0.0_MultiDynamics_arc_16_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3334/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dbb40e98e30dbc057bec58157368a9b58449a2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3334/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.8_0.0_MultiDynamics_arc_17_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3335/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc407d771ece21119c73518e05740311589729c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3335/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_1.9_0.0_MultiDynamics_arc_18_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3336/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b358ffe9ae12d5e7f4ba3c3ec9f8836108ccc2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3336/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-0.6_0.0_MultiDynamics_arc_5_0.170_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3337/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19950740c55f540a209582b9b716a5b208b14b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3337/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.2_2.0_0.0_MultiDynamics_arc_19_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3338/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab5d007142c2fcf84dd54c8f46e110f258ecca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3338/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-0.7_0.0_MultiDynamics_arc_6_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3339/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61a3af35295ab66212ddca5363da29ae1750762f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3339/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-0.8_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_334/meta.json b/RH5_dataset_threads_5000eps/frames/episode_334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad212443b9e00c3d4deb7fc84b6ff4c577dcb43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_334/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.062",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.54,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.0_0.0_0.0_MultiDynamics_2_0.540_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3340/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03930052401f45138825148350989ae02745e5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3340/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-0.9_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3341/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32e23057ea6b703d63bda06ac31e30e8e1f6b39
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3341/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.0_0.0_MultiDynamics_arc_9_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3342/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c81abef8071e8845333b88854ae2cf95ceb66872
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3342/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.1_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3343/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1b1815eef7fdbb541f36266e220712c925bee2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3343/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.2_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3344/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d19eb1631ecf08d8e7c537c7de03520e6614f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3344/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.3_0.0_MultiDynamics_arc_12_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3345/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1eeaa2e0e5a6162960452e7f9f02d44598aa68a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3345/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.4_0.0_MultiDynamics_arc_13_0.065_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3346/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8db1b89900f49ad398787f0c4d2f91ffaf718
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3346/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.5_0.0_MultiDynamics_arc_14_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3347/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abcc58fe1dcbc4e84d4314ea2db75984e18e6ef7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3347/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.6_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3348/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b8895657f2403fd9eae2b4be552adde279161f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3348/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.7_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3349/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02cff6ece803e4824d792456ee00299905d572c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3349/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.8_0.0_MultiDynamics_arc_17_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_335/meta.json b/RH5_dataset_threads_5000eps/frames/episode_335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c393a9cd267198c163d22eb81e3b585007c9305
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_335/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.062",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.59,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.1_0.0_0.0_MultiDynamics_2_0.590_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3350/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c1ec3ba7354d02fcf15ad1b6c71f3cc72014e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3350/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-1.9_0.0_MultiDynamics_arc_18_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3351/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d5750ab29965f00aaf90b6a63ae4f670d7ccf7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3351/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_0.6_0.0_MultiDynamics_arc_5_0.170_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3352/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34def5c32c45414807cb4f3fdbc4e54b60b73a3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3352/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_-2.0_0.0_MultiDynamics_arc_19_0.045_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3353/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..355384b4b7b56ee4dbbe8bde261d370c7c512517
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3353/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_0.7_0.0_MultiDynamics_arc_6_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3354/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e834a15696da4c55e28fac607fee4214119ec19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3354/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_0.8_0.0_MultiDynamics_arc_8_0.106_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3355/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f6cb04009fd2591e5565f17cbef1ed4b25df6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3355/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_0.9_0.0_MultiDynamics_arc_8_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3356/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3774c088b5d5a388d4450583a1db69f9da61eea4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3356/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.0_0.0_MultiDynamics_arc_9_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3357/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e3926292793d61fccecb7dd8dbbd18e1f6a717
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3357/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.1_0.0_MultiDynamics_arc_11_0.077_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3358/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df759173101e07c561ddd00354211bd0b66ee30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3358/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.2_0.0_MultiDynamics_arc_11_0.077_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3359/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..306e3bafcf2269eae069635604c2883971c15bf7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3359/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.3_0.0_MultiDynamics_arc_12_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_336/meta.json b/RH5_dataset_threads_5000eps/frames/episode_336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d331f9344cd6783f5d492f160179ae55bad19e59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_336/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.062",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.427,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.2_0.0_0.0_MultiDynamics_3_0.427_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3360/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..156674b311406b6a998d8c3e2ca64b517d7bf7b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3360/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.4_0.0_MultiDynamics_arc_13_0.065_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3361/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4266e615ebf301cd84f43c97077ecccbe57cf13a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3361/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.5_0.0_MultiDynamics_arc_14_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3362/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be68c3c3bb578b46c8a14aff06b16ec54e7251a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3362/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.6_0.0_MultiDynamics_arc_16_0.053_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3363/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14f2838ae51449eca8b6a13f3c91352fe519417
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3363/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.7_0.0_MultiDynamics_arc_16_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3364/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3de9dc4d952de3bdf9873595b28954a74bb851
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3364/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.8_0.0_MultiDynamics_arc_17_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3365/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3611bb294ce1c10d7d85f5cc4acf734405de5522
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3365/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_1.9_0.0_MultiDynamics_arc_18_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3366/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..915a9731db3e90338cb56e7e6630bdd534df4908
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3366/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.3_2.0_0.0_MultiDynamics_arc_19_0.045_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3367/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a870c1c5f8ab37adf80c6d76ceccb14561260efe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3367/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-0.6_0.0_MultiDynamics_arc_5_0.190_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3368/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c157b05f66792f6aaff374c2860b6d019465dacd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3368/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-0.7_0.0_MultiDynamics_arc_6_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3369/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1fd59c787564109ea7000919e5bcd5db9d54b3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3369/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-0.8_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_337/meta.json b/RH5_dataset_threads_5000eps/frames/episode_337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..548a15394947705e2e8ba2380db320c50a8f22a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_337/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.477,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.477_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3370/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a92ac96e87fb99a1a961c5b47a4709d9664bc73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3370/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-0.9_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3371/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee80e2582b314408799575eb1cbffd8fd03d1729
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3371/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.0_0.0_MultiDynamics_arc_9_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3372/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17aec7e9684509ef49138268577034d126fbbf97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3372/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.1_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3373/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e84f2921ad63b22f69297b18f703e94cbc3145
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3373/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.2_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3374/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0aa880ff9bb65efa51833656da38985ece0f323
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3374/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.3_0.0_MultiDynamics_arc_12_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3375/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9b2e9148b077692f5459363a3f798aaa0b7df0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3375/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.4_0.0_MultiDynamics_arc_13_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3376/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82734eaea8bdc5e14d6aa8709423fbeec5bef70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3376/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.5_0.0_MultiDynamics_arc_14_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3377/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..934deb2a42b0c5879769f4f97fecfa32e536f102
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3377/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.6_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3378/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4625a8affed267baf6f40b5e4c295e76c79d02f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3378/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.7_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3379/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c80088855b4d5af1e62b1a5bb10cf96ed9dc7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3379/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.8_0.0_MultiDynamics_arc_17_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_338/meta.json b/RH5_dataset_threads_5000eps/frames/episode_338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f8e5fa442945bf4be4244624022ade4fe52cb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_338/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.062",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.493,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.4_0.0_0.0_MultiDynamics_3_0.493_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3380/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b2f0182fa4775735de7ead71b1e06d29c55e68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3380/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-1.9_0.0_MultiDynamics_arc_18_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3381/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96390759e0d53562861c5d8c91d9015fe63727ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3381/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_0.6_0.0_MultiDynamics_arc_5_0.190_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3382/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59349df694a582edede84a4aa92ea560988f0963
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3382/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_-2.0_0.0_MultiDynamics_arc_19_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3383/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc38a98d533099fbc019deecd046a519a30020b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3383/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_0.7_0.0_MultiDynamics_arc_6_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3384/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a43a9181f96c750ec5fa397695143131c62fb0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3384/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_0.8_0.0_MultiDynamics_arc_8_0.119_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3385/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45846de0eda7fe6c3484bffee9a6581afd9e7103
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3385/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_0.9_0.0_MultiDynamics_arc_8_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3386/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66a255f9e31f5ac4d26e1665e4b0f8e009f7668
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3386/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.0_0.0_MultiDynamics_arc_9_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3387/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0173c8a38208c392aafd82f7c585b2949ee1a81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3387/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.1_0.0_MultiDynamics_arc_11_0.086_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3388/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c42c0ce92a58bc0619d0ad0d9b47937127b2e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3388/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.2_0.0_MultiDynamics_arc_11_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3389/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6cc2eb721f416df39cf909075ed7d7c91e44de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3389/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.3_0.0_MultiDynamics_arc_12_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_339/meta.json b/RH5_dataset_threads_5000eps/frames/episode_339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b32c3a558e0e0288508ccc5ceed1f05678408f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_339/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.062",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.527,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.5_0.0_0.0_MultiDynamics_3_0.527_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3390/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d4bb3750315ac28857617398709e666d96abe11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3390/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.4_0.0_MultiDynamics_arc_13_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3391/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..531da70ad10baf3b611890bb4dc7b757be63efe9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3391/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.5_0.0_MultiDynamics_arc_14_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3392/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af946d0d7bc6b6977f37e1faa3d1ad0722cf9a36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3392/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.6_0.0_MultiDynamics_arc_16_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3393/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..835e8b4a598647633b040474b2daa4d673cbe71d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3393/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.7_0.0_MultiDynamics_arc_16_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3394/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..391cb0d1359298af8b2c663712e701bac90e4665
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3394/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.8_0.0_MultiDynamics_arc_17_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3395/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f16b78d9f2d05c98cb8d3456b3fbd47f3cd6b62
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3395/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_1.9_0.0_MultiDynamics_arc_18_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3396/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..183be323c9890a00eb767905c1aaa4466c1321df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3396/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.4_2.0_0.0_MultiDynamics_arc_19_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3397/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a21644b5bef1625a7ebb8bbb129665afb40f92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3397/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-0.6_0.0_MultiDynamics_arc_5_0.210_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3398/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c73e5347a9a34f7399e66cd7fe7343448445bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3398/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-0.7_0.0_MultiDynamics_arc_6_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3399/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ba62f52f6dfb2a333acac93b9740cefe1bb7c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3399/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-0.8_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_34/meta.json b/RH5_dataset_threads_5000eps/frames/episode_34/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d38360cb47d152abf4eaa5a864422f3ab866c97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_34/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.062,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.4_0.0_0.0_MultiDynamics_2_0.401_0.062_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_340/meta.json b/RH5_dataset_threads_5000eps/frames/episode_340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9682f30828244fa2bbe524324eba828d4d610443
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_340/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.062",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.56,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.6_0.0_0.0_MultiDynamics_3_0.560_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3400/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dda3f528de19478d7b8c439a6bdd98eeb6be0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3400/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-0.9_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3401/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be9f2fb280d359323095e7c8617a650b5801da6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3401/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.0_0.0_MultiDynamics_arc_9_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3402/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a31e4ce1f08635ac4a09803653391fea67aae7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3402/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.1_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3403/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4395b6e4affea67fe697a41943410df9b2b06d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3403/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.2_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3404/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b78649bbc41e5ed68606b220a4bdc3b87e19c27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3404/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.3_0.0_MultiDynamics_arc_12_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3405/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcdc659a31292afe991c2fe8a5cdf0e42e18aa32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3405/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.4_0.0_MultiDynamics_arc_13_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3406/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..087a35e6f3ba13c85276e0e9ab5fe0184abed928
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3406/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.5_0.0_MultiDynamics_arc_14_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3407/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2fff14712f9011852a213762651a04a4359da5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3407/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.6_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3408/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76604ff6e5c93bfeef88c01e2092eb781abc67d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3408/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.7_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3409/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..554abfef80cce9a8e3895bdbbb9d7ed70d94ddf6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3409/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.8_0.0_MultiDynamics_arc_17_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_341/meta.json b/RH5_dataset_threads_5000eps/frames/episode_341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c874ed1781c575a8cf73f78e299e6f697c5e791b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_341/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.062",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.593,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.7_0.0_0.0_MultiDynamics_3_0.593_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3410/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..662457990cf650837ebdf4b480eefcac4eb49bb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3410/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-1.9_0.0_MultiDynamics_arc_18_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3411/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b29e4c42a38e0c43bf48b49edb0a8e524295325
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3411/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_-2.0_0.0_MultiDynamics_arc_19_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3412/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d8341eb2ccac254b74c4ab162f0e9d20676123
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3412/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_0.6_0.0_MultiDynamics_arc_5_0.210_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3413/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e546ebcc4f257c110e775b43fe2a87d829157429
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3413/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_0.7_0.0_MultiDynamics_arc_6_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3414/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61811ab91cbbc4a8b9cdeec00c3e28c4602182b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3414/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_0.8_0.0_MultiDynamics_arc_8_0.131_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3415/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6303bb9c6e7a207d600e2bbaa6945ea69df41538
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3415/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_0.9_0.0_MultiDynamics_arc_8_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3416/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95dd9e8f58026cf17147153c87fa28087429f8cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3416/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.0_0.0_MultiDynamics_arc_9_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3417/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a52f6103780f48f68c69c87d0906bebd51d345
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3417/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.1_0.0_MultiDynamics_arc_11_0.095_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3418/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6e0051df2128b4fda90497f52f826f3cbabe4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3418/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.2_0.0_MultiDynamics_arc_11_0.095_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3419/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af3e776a18333dba4072112f3abeadb6fcb310e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3419/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.3_0.0_MultiDynamics_arc_12_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_342/meta.json b/RH5_dataset_threads_5000eps/frames/episode_342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c992711b7b5b0043c00d07037611591d18cfe1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_342/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.062",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.627,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.8_0.0_0.0_MultiDynamics_3_0.627_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3420/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..648c49e8f6f3bb0941892574723a2e99178aae2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3420/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.4_0.0_MultiDynamics_arc_13_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3421/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c2ca6ff59d83e7a19ad157498393aa212e0918
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3421/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.5_0.0_MultiDynamics_arc_14_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3422/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d654a920865a5091961bba95f9a88902ddff0637
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3422/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.6_0.0_MultiDynamics_arc_16_0.066_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3423/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f39d4dbe61ab1d2131854da21212ea3b7c88b0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3423/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.7_0.0_MultiDynamics_arc_16_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3424/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8becf4135bb48ff730c6b1a49ab2ffaf26a664f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3424/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.8_0.0_MultiDynamics_arc_17_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3425/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2965d8d44a7c667bda715e52a5a55efb350197a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3425/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_1.9_0.0_MultiDynamics_arc_18_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3426/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc532836c4148a94d9a12111bc96cabea8927bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3426/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.5_2.0_0.0_MultiDynamics_arc_19_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3427/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..186ae11d7a8fb6f6e02415817afe2ddff0d9d52d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3427/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-0.6_0.0_MultiDynamics_arc_5_0.230_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3428/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e1035064a14c607395e29dc1e1896dd8aad0340
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3428/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-0.7_0.0_MultiDynamics_arc_6_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3429/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0dd26e66952b14914ee27bb25c27e22536f0844
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3429/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-0.8_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_343/meta.json b/RH5_dataset_threads_5000eps/frames/episode_343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de7810dbf1476ce29079e20a77c319682757926
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_343/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.062",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.495,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_1.9_0.0_0.0_MultiDynamics_4_0.495_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3430/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..254eecdf071c39e52720688e5c6704ef2677faa3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3430/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-0.9_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3431/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c1b4c5c381ad69250193644117b06bd0aceab0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3431/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.0_0.0_MultiDynamics_arc_9_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3432/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d00e09ef9ab0e94bf56e2055d7bf2534962fa16b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3432/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.1_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3433/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85e64cd90de838da32d2f28358e9fa59bc2814c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3433/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.2_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3434/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23987020dbda218885af8e6defb825593e041553
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3434/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.3_0.0_MultiDynamics_arc_12_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3435/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db411f0face967cd64afc2b2a9db7baa8d1941f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3435/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.4_0.0_MultiDynamics_arc_13_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3436/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23258a2f54fbb7e9bf0bce8f8b14281df99002c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3436/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.5_0.0_MultiDynamics_arc_14_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3437/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4560fb8d4894778af789b0100e7150efd0566be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3437/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.6_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3438/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d653e4a6621276231ab0750d6e710bd6d4f4e03b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3438/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.7_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3439/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6293230acd483b8f6c94e070040231f517fa0358
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3439/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.8_0.0_MultiDynamics_arc_17_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_344/meta.json b/RH5_dataset_threads_5000eps/frames/episode_344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d6072b9a6b2e22cfa5695fd361d62e02b735763
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_344/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.062",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.52,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.0_0.0_0.0_MultiDynamics_4_0.520_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3440/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3295e16d87005767c50f354e4b7496ad2b438f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3440/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-1.9_0.0_MultiDynamics_arc_18_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3441/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..159e65bcc57f42c86a8e16b7f690cddc748fd991
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3441/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_0.6_0.0_MultiDynamics_arc_5_0.230_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3442/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3baa45c9f927d11ece0e5c0b1351aef853a4b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3442/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_-2.0_0.0_MultiDynamics_arc_19_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3443/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e7e2857c3f700ece38d02743519eb72b2331dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3443/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_0.7_0.0_MultiDynamics_arc_6_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3444/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb4375b9795bc9b7ea37b4b7ede7933a5942797
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3444/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_0.8_0.0_MultiDynamics_arc_8_0.144_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3445/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df4279a1a229ebf46d2698aac984e67e2cdbc93
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3445/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_0.9_0.0_MultiDynamics_arc_8_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3446/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fedeb96ff30179a0f9c2640ecc7bd5f5dcc15e67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3446/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.0_0.0_MultiDynamics_arc_9_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3447/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4aa99bf6e604fde25dc587f3b673516969ab918
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3447/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.1_0.0_MultiDynamics_arc_11_0.105_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3448/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2ddf151f6b08b5dbeb66d38492f3aae683a931
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3448/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.2_0.0_MultiDynamics_arc_11_0.105_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3449/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc5b090fb66474ad91d3af4f565a9db3c016709
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3449/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.3_0.0_MultiDynamics_arc_12_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_345/meta.json b/RH5_dataset_threads_5000eps/frames/episode_345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f614daaaf36b424c4551c032a93cf47ea66eb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_345/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.062",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.545,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.1_0.0_0.0_MultiDynamics_4_0.545_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3450/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0ffe15c24370cd0aa3a1316e2b394c22b82f09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3450/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.4_0.0_MultiDynamics_arc_13_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3451/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57923990301e0a32ab052e8408151a7f4dc9ce70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3451/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.5_0.0_MultiDynamics_arc_14_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3452/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..358515461e4468486350c683c3cb98ba6f870502
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3452/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.6_0.0_MultiDynamics_arc_16_0.072_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3453/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08772dce0ba699c37641535bd52638484d7e0785
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3453/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.7_0.0_MultiDynamics_arc_16_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3454/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..281060f4b794ac4dd550e08d9b5678db20c86fdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3454/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.8_0.0_MultiDynamics_arc_17_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3455/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60d88ce8207ea9edd259b22e48721921555a2b2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3455/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_1.9_0.0_MultiDynamics_arc_18_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3456/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a9e427fbe6b2cc5b807e5a1fb82f19f4a7dc533
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3456/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-0.6_0.0_MultiDynamics_arc_5_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3457/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d2a40cab94e846991b6972e793bcaa3c09783f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3457/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.6_2.0_0.0_MultiDynamics_arc_19_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3458/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e3d46227e2558c5f7b20d6f0ec39a4fa27d26b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3458/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-0.7_0.0_MultiDynamics_arc_6_0.208_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3459/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6715c2602e104ca16d6c9d5eab279e9db1e5de3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3459/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-0.8_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_346/meta.json b/RH5_dataset_threads_5000eps/frames/episode_346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ee0faac1d43e6c9bdee400b17bf9197a8c0e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_346/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.062",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.57,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.2_0.0_0.0_MultiDynamics_4_0.570_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3460/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..303df284c14101c3fcb0e85e170e7e267c769ce3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3460/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-0.9_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3461/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b8e4186a18bfae992a516b72f7ee160ce42d22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3461/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.0_0.0_MultiDynamics_arc_9_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3462/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b408fd512888ba4320ef0121248e2fcbcabcb017
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3462/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.1_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3463/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c630a8cef668034ea4ed61d98025b4b5e7e1ecc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3463/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.2_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3464/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be901601fdf7eaa2939c35fe0f5b50bc46127505
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3464/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.3_0.0_MultiDynamics_arc_12_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3465/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9d4509ab06f5999f5bb5f40691584a6073e41d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3465/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.4_0.0_MultiDynamics_arc_13_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3466/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea2d4f9647d89e104c732419486668dccb6e6483
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3466/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.5_0.0_MultiDynamics_arc_14_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3467/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3afd7bf9336deabcf765dc11057e72a41827c8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3467/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.6_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3468/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6d793fa3d35c4bddbf3f63ca152b3125ed2f08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3468/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.7_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3469/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb202c6f97dd2f62bcba74017c06f67fbf3afa0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3469/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.8_0.0_MultiDynamics_arc_17_0.074_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_347/meta.json b/RH5_dataset_threads_5000eps/frames/episode_347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d48adadf26403afe9116e2d61d447465404e7b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_347/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.062",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.595,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.3_0.0_0.0_MultiDynamics_4_0.595_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3470/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba8169f78ff968cf483a1a2a1095342366d168c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3470/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-1.9_0.0_MultiDynamics_arc_18_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3471/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..215ab42ba2751f943e316678ffc72747291c4f2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3471/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_-2.0_0.0_MultiDynamics_arc_19_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3472/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a209e41433d512bd0e77e3bf92549b9916e1a6cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3472/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_0.6_0.0_MultiDynamics_arc_5_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3473/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1990000a66027d7f00f2153aab13f1281716cf3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3473/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_0.7_0.0_MultiDynamics_arc_6_0.208_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3474/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf83e3063aafc0a15ed85a06cc639daf67cf7be7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3474/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_0.8_0.0_MultiDynamics_arc_8_0.156_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3475/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcae3a3cc68b3b72a8ca388010b90edc671cebe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3475/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_0.9_0.0_MultiDynamics_arc_8_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3476/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d9349c1619e19e32a1e7e5d4235ffd2bc89261
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3476/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.0_0.0_MultiDynamics_arc_9_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3477/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d12c7073dfca4e9396e005c2c02ff58eab96cfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3477/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.1_0.0_MultiDynamics_arc_11_0.114_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3478/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c834a89f608c8a7d67494778d2aecf29861711f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3478/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.2_0.0_MultiDynamics_arc_11_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3479/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db641cab1e89052df3656f269e1bf774a4e92a3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3479/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.3_0.0_MultiDynamics_arc_12_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_348/meta.json b/RH5_dataset_threads_5000eps/frames/episode_348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4b09c856c4891bcddf143348fd3833110c6e1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_348/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.062",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.62,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.4_0.0_0.0_MultiDynamics_4_0.620_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3480/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb733eea39354f40e2df2775b9d5a50f57a2380
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3480/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.4_0.0_MultiDynamics_arc_13_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3481/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ef7f75ba2ebc2933da04be9ba99198234276f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3481/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.5_0.0_MultiDynamics_arc_14_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3482/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..469f2f03464208cea6cab318be5cb92ffe99fa1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3482/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.6_0.0_MultiDynamics_arc_16_0.078_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3483/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b3d9478b083daf5e2694a10b0caae5a4c0814
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3483/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.7_0.0_MultiDynamics_arc_16_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3484/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..745cfc26a8d209706180297ba0c544e621959fba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3484/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.8_0.0_MultiDynamics_arc_17_0.074_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3485/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..183feb01fb1ef5dab624e8c90b4d09c523e21ee8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3485/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_1.9_0.0_MultiDynamics_arc_18_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3486/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed58e158ade12bd813d88c8849a25b92bc624672
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3486/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.7_2.0_0.0_MultiDynamics_arc_19_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3487/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7e3300d518ab5d2d31f254f92e16d2be95ac2d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3487/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-0.6_0.0_MultiDynamics_arc_5_0.270_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3488/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..702b7a85c2f596c890ee4c61d92e769757b88f5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3488/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-0.7_0.0_MultiDynamics_arc_6_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3489/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..471764f60816cb38514168d963151fe9c80be51b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3489/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-0.8_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_349/meta.json b/RH5_dataset_threads_5000eps/frames/episode_349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a82f3d6f814e8ae439af4fb7105b86dfd8813c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_349/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.062",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.516,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.5_0.0_0.0_MultiDynamics_5_0.516_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3490/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f7fdc9ee9618e8a310de56bc02b9d1e88ddfa0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3490/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-0.9_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3491/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f77e50767fd3257f008bc45775ad4b3ce9e4ab1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3491/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.0_0.0_MultiDynamics_arc_9_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3492/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b14f72dd72890607cc84977b2fe11db505aecd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3492/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.1_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3493/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4863b64337b0120ff4b1f2243c12341d53c6fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3493/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.2_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3494/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98c971135da38a524570ea301f7a87c2ef2120f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3494/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.3_0.0_MultiDynamics_arc_12_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3495/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96079b6cf1ef2a26a7cc682f96cbd938446bf1a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3495/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.4_0.0_MultiDynamics_arc_13_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3496/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d9c6282f239444959424e3b65e5ebc4a8716f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3496/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.5_0.0_MultiDynamics_arc_14_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3497/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..298d27a21689279578c18c3a6a6c9a20cf10c09c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3497/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.6_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3498/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa063014f8bce47ca44766e0147b258245d68439
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3498/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.7_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3499/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bea8c9a36c95ba2d640670a17b80fea419eecd15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3499/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.8_0.0_MultiDynamics_arc_17_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_35/meta.json b/RH5_dataset_threads_5000eps/frames/episode_35/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d573581879b14bae3a64852dda5a5aa60b9c02
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_35/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.5_0.0_0.0_MultiDynamics_2_0.480_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_350/meta.json b/RH5_dataset_threads_5000eps/frames/episode_350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e812b39ec775e8430b04bed3ca18c6ae7c490d34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_350/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.536,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.6_0.0_0.0_MultiDynamics_5_0.536_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3500/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..381dd32731c1320aac8e2fe5f771ab52b28c3307
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3500/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-1.9_0.0_MultiDynamics_arc_18_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3501/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1f3b9a911349197384eb3f1e9e03f1b6dee36a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3501/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_-2.0_0.0_MultiDynamics_arc_19_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3502/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e44462cbe9a6c5f9565647f9009fc20f8aa9333
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3502/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_0.6_0.0_MultiDynamics_arc_5_0.270_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3503/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afe0f508103ef51244a50347f7112bb67bc7d12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3503/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_0.7_0.0_MultiDynamics_arc_6_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3504/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f44d10975298f9aca3b45f553b5fdc40f70203aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3504/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_0.8_0.0_MultiDynamics_arc_8_0.169_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3505/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c92c45ec2c4078919b5f63e9e7726c24d51203c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3505/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_0.9_0.0_MultiDynamics_arc_8_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3506/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12cec64ac2440aebff58a49771c06b07278b7b31
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3506/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.0_0.0_MultiDynamics_arc_9_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3507/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e3266d0961757d38031e07a7f88c94cad3bbe8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3507/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.1_0.0_MultiDynamics_arc_11_0.123_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3508/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94a23accd0988fdf5cfc486833510b069026598
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3508/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.2_0.0_MultiDynamics_arc_11_0.123_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3509/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2615a562114e63643a66e2732f2155f0d3247f07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3509/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.3_0.0_MultiDynamics_arc_12_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_351/meta.json b/RH5_dataset_threads_5000eps/frames/episode_351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f09a22de96be615ab217b12aa32053a2015e12d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_351/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.062",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.556,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.7_0.0_0.0_MultiDynamics_5_0.556_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3510/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55b628cd3f321b637c539b0c0fac3212707bef58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3510/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.4_0.0_MultiDynamics_arc_13_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3511/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc90f116638aa1fcada5d909124f97a14934d19e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3511/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.5_0.0_MultiDynamics_arc_14_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3512/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e02722a596ce061d3f8236441fb85f2f6699b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3512/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.6_0.0_MultiDynamics_arc_16_0.084_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3513/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d85af9890d014d57de9ac0b60aa3cf858e4ec5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3513/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.7_0.0_MultiDynamics_arc_16_0.084_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3514/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94d540113f3a5530e72fdf0d13a7c9d3286adf1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3514/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.8_0.0_MultiDynamics_arc_17_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3515/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68a05582b81dda1bd4c06e264d370eb9f5f4708a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3515/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_1.9_0.0_MultiDynamics_arc_18_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3516/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc68d93d3a10299f152922b2a7dd274ee2128ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3516/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.8_2.0_0.0_MultiDynamics_arc_19_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3517/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11708e003181d397508990b1a6b4c261df0b09f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3517/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-0.6_0.0_MultiDynamics_arc_5_0.290_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3518/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3dad7fba67bd66614bd8301b0655f9030269475
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3518/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-0.7_0.0_MultiDynamics_arc_6_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3519/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34715bd872fc977b899ea621a10379f0224031ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3519/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-0.8_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_352/meta.json b/RH5_dataset_threads_5000eps/frames/episode_352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22b8741ad2a821c894821a8375640551df7b1eee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_352/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.062",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.576,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.8_0.0_0.0_MultiDynamics_5_0.576_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3520/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa364f1d82d05256ada7e9867d02246652352fa2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3520/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-0.9_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3521/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a9c9a19a2e82a07d0fb679a5d4b78c0b255a8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3521/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.0_0.0_MultiDynamics_arc_9_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3522/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4fd974b6469f2d1e0025b13ad45930de722c7ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3522/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.1_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3523/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f301521db298f3d1496e8e4718d47962c7720cff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3523/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.2_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3524/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b32dfd78c7368e01a43eddd10003941f034595
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3524/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.3_0.0_MultiDynamics_arc_12_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3525/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d489facd0f5a4e9e733a1f7ea6d812101201df44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3525/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.4_0.0_MultiDynamics_arc_13_0.112_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3526/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69316e5df2f8471ac0a4e1fda8da83e25ba58064
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3526/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.5_0.0_MultiDynamics_arc_14_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3527/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16fdf8dabe9d42823780aafadf176d0995077740
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3527/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.6_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3528/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7cef6b8510c670f1507b0686214d407d04daad0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3528/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.7_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3529/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f149e62bff748cae79f9a69be0867762fcab66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3529/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.8_0.0_MultiDynamics_arc_17_0.085_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_353/meta.json b/RH5_dataset_threads_5000eps/frames/episode_353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bac7d3b52c78dee57e8d55f1ac7efa6cc83bf7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_353/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.062",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.596,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_2.9_0.0_0.0_MultiDynamics_5_0.596_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3530/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8005bfe987475ff8e01099761796221b9eb7846
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3530/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-1.9_0.0_MultiDynamics_arc_18_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3531/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b75c53e59743294b0f91436b0cad04a6c8a2ebb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3531/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (1.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_0.6_0.0_MultiDynamics_arc_5_0.290_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3532/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11d8824ceb0c2838f3a3f40372781305eba0d55c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3532/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_-2.0_0.0_MultiDynamics_arc_19_0.076_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3533/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9d38af60a44b2998909f495404e001ac153575
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3533/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (1.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_0.7_0.0_MultiDynamics_arc_6_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3534/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fe2e91be3cc37d3e8445de46ce58fd2184d7b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3534/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_0.8_0.0_MultiDynamics_arc_8_0.181_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3535/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8cddc7d4a0db602379a6a3cffdd69f374e74cb3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3535/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (1.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_0.9_0.0_MultiDynamics_arc_8_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3536/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdefaf0d70e4800ccd7a9ac80e58d750b54e35c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3536/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (1.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.0_0.0_MultiDynamics_arc_9_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3537/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..404634c85d8f7f9d264b447928fc0d5e8a8c0ce0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3537/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.1_0.0_MultiDynamics_arc_11_0.132_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3538/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af9dd30589bf526937ceb1fd4166ebf02063165d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3538/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (1.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.2_0.0_MultiDynamics_arc_11_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3539/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f800d912086cff6a2aecd13593e108c6ee8e827
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3539/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (1.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.3_0.0_MultiDynamics_arc_12_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_354/meta.json b/RH5_dataset_threads_5000eps/frames/episode_354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd2bf7784268eb568a376e5b18a712e5b033c22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_354/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.062",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.616,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.0_0.0_0.0_MultiDynamics_5_0.616_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3540/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b479f3a79d293768abe32918e73d3a75a6bb6f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3540/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (1.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.4_0.0_MultiDynamics_arc_13_0.112_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3541/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b1fffe8b56ebf8da333666ca60228829a22883
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3541/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (1.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.5_0.0_MultiDynamics_arc_14_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3542/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c88200c4af8ef510a57ba1154a954b2529e2cc4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3542/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.6_0.0_MultiDynamics_arc_16_0.091_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3543/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26ed0020ae249c0ba5b8e156285da20d0b2a35cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3543/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (1.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.7_0.0_MultiDynamics_arc_16_0.091_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3544/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f08da3e6c10467ca48f4ac594f7556fee1d4d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3544/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (1.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.8_0.0_MultiDynamics_arc_17_0.085_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3545/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..826caa2d0e1b883d3dc0acf8a9e79f603e90d260
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3545/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (1.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_1.9_0.0_MultiDynamics_arc_18_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3546/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f96f76ae0a0eaedf7fe6db5514b7f1f20ea5b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3546/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (1.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_1.9_2.0_0.0_MultiDynamics_arc_19_0.076_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3547/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f0b4c197c7021df172c85cff3efd09ec84d0d6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3547/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-0.6_0.0_MultiDynamics_arc_5_0.310_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3548/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3ed71bfe1172e8ba5d5a9a86dd751e62718fb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3548/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-0.7_0.0_MultiDynamics_arc_6_0.258_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3549/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cb12b2df83e149e0e2466b0718beef768c5eaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3549/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-0.8_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_355/meta.json b/RH5_dataset_threads_5000eps/frames/episode_355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c89c2c2a527721166bf92e7d73e657cd63dcdb29
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_355/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.53,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.1_0.0_0.0_MultiDynamics_6_0.530_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3550/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d541da1828650f9eb9b0b743373e6b8fcb7fd66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3550/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-0.9_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3551/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78df0d01129e194c4f9bb72c56283e40608173f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3551/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.0_0.0_MultiDynamics_arc_9_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3552/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95002937e2594dd98597e2f3737372f48a095d4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3552/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.1_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3553/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45be8fec6b600f3ebce800eefdc4576ecc1d7ee0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3553/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.2_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3554/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a589717ba07fb940a55a603c9ea93be12cee48a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3554/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.3_0.0_MultiDynamics_arc_12_0.129_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3555/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeebd9217c3741c7856774d7744978e8a8dd8780
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3555/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.4_0.0_MultiDynamics_arc_13_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3556/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f623e0173d70e3e05336ca14f88e1724835189d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3556/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.5_0.0_MultiDynamics_arc_14_0.111_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3557/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da91ec868c124be4023e1576190625b8dd67b4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3557/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.6_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3558/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d14867f8668e3c0545f8beb4fa22146d37e583
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3558/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.7_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3559/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0363ddabc367db8babd90d3f825428709b4f19ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3559/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.8_0.0_MultiDynamics_arc_17_0.091_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_356/meta.json b/RH5_dataset_threads_5000eps/frames/episode_356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d45e51a88af9a468d9fb709f0bbc2ec196e14b2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_356/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.062",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.547,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.2_0.0_0.0_MultiDynamics_6_0.547_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3560/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f181eede7be1fc903e3052529315b4316b004c70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3560/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-1.9_0.0_MultiDynamics_arc_18_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3561/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d24670421672f94ccee5b1c15d1de41b0c25d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3561/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_0.6_0.0_MultiDynamics_arc_5_0.310_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3562/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db20417cc3d65d44c8d1417a6332a8a58f74ca2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3562/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_-2.0_0.0_MultiDynamics_arc_19_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3563/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..336a19e784b2dfc4e04c045e24bf8526dcb297cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3563/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_0.7_0.0_MultiDynamics_arc_6_0.258_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3564/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e0cec431102a95471542c10522b5e9e4361a46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3564/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_0.8_0.0_MultiDynamics_arc_8_0.194_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3565/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06f8714539fd8307c5c7a356442119edfba39ca3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3565/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_0.9_0.0_MultiDynamics_arc_8_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3566/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f448629aa0ce48944446f09561bcb8d9171d24
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3566/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.0_0.0_MultiDynamics_arc_9_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3567/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70a2b33e7731e7d0f198abae3573151e388dfa25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3567/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.1_0.0_MultiDynamics_arc_11_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3568/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..486201749456b76053c688fc23b014ec2d9f1b16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3568/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.2_0.0_MultiDynamics_arc_11_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3569/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db99f6cce827292fdb7cca5495f91a28d1dd089
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3569/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.3_0.0_MultiDynamics_arc_12_0.129_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_357/meta.json b/RH5_dataset_threads_5000eps/frames/episode_357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2fe48b3968d13314acc7a10d0753612cc30e3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_357/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.062",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.563,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.3_0.0_0.0_MultiDynamics_6_0.563_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3570/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..357644c1f807ee64d2dbfc87c84fd22e53bb32c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3570/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.4_0.0_MultiDynamics_arc_13_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3571/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f948e1862bdcb331ca1f6438b0ebbdd66b8b6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3571/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.5_0.0_MultiDynamics_arc_14_0.111_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3572/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..544f7c0bb8f230b216044675d14b309a0bebafcd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3572/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.6_0.0_MultiDynamics_arc_16_0.097_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3573/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c2ab181f7d9818f54ddb2c3bbcf583bbaf5cd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3573/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.7_0.0_MultiDynamics_arc_16_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3574/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44310a09f5e67cc58c777bcb3fe03a8ee81c915
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3574/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.8_0.0_MultiDynamics_arc_17_0.091_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3575/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9e9a27fbcc5a3e820bae8c9d4e1e003ed163ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3575/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_1.9_0.0_MultiDynamics_arc_18_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3576/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b64c2a435e79dfddb6aed782853d83f4d56c40e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3576/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.0_2.0_0.0_MultiDynamics_arc_19_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3577/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c579c7e0b08a68ebc80d8e3b75d8660c9f0fd7ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3577/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-0.6_0.0_MultiDynamics_arc_5_0.330_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3578/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc17ae9aa99b87c668cbf8b9d834a879f3c3ca4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3578/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-0.7_0.0_MultiDynamics_arc_6_0.275_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3579/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd4ac58dc9067a19d65c32affc63abffca63439
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3579/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-0.8_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_358/meta.json b/RH5_dataset_threads_5000eps/frames/episode_358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e03b821358e18187a4729bf694621ff05f21298
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_358/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.4_0.0_0.0_MultiDynamics_6_0.580_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3580/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b1d67c6c3c1817e25f92a65a319256f60a2d53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3580/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-0.9_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3581/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ed31a08c12687e0e9ac8e2dd6596e4c0efe6aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3581/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.0_0.0_MultiDynamics_arc_9_0.183_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3582/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a7bceaea4f5b07d484d885ea9f1404d39e92892
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3582/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.1_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3583/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe520c0626b73c00fc7c3675d8a13a583ff2280
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3583/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.2_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3584/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb8cbf56b696cb062407fa54cc3a7b86eac0c79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3584/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.3_0.0_MultiDynamics_arc_12_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3585/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..158e9ac76e1a2c7c236047f040951d5e4df77648
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3585/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.4_0.0_MultiDynamics_arc_13_0.127_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3586/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4300691750622ad26f192b3b172683f37642b4d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3586/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.5_0.0_MultiDynamics_arc_14_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3587/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..531acca10f3854d587a72ca3bb9c030740a3f7bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3587/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.6_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3588/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7cab12bfc13ec1cbf189367a4fdceac93bc964d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3588/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.7_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3589/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f4136d6462f6780565a2e65297c9cfcdb7effc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3589/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.8_0.0_MultiDynamics_arc_17_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_359/meta.json b/RH5_dataset_threads_5000eps/frames/episode_359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56da0531b81f6fe63879b839aba7118d0e5591d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_359/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.062",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.597,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.5_0.0_0.0_MultiDynamics_6_0.597_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3590/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e212dd15d2bf5377cb13e70fcd38f7154234460
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3590/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-1.9_0.0_MultiDynamics_arc_18_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3591/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b49d414977f45f674eb65d7db3b70f62bfc5706
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3591/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_-2.0_0.0_MultiDynamics_arc_19_0.087_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3592/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15856ad8bdf35ee582904552e74cf072851a5f73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3592/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_0.6_0.0_MultiDynamics_arc_5_0.330_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3593/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3532ae7d7a8278028b642e3417f04879905afa2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3593/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_0.7_0.0_MultiDynamics_arc_6_0.275_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3594/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32f2badd9426a52c7caca460aaca18e0b684703
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3594/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_0.8_0.0_MultiDynamics_arc_8_0.206_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3595/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d9f78a2e91273f591aad1bb9b99dce0811a861
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3595/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_0.9_0.0_MultiDynamics_arc_8_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3596/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65f4a7035044d0b03923bdb9a952539dc9ad25b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3596/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.0_0.0_MultiDynamics_arc_9_0.183_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3597/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5ae38320bc41e43bf6f496d1977776125340ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3597/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.1_0.0_MultiDynamics_arc_11_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3598/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d68cd6c3d1bb478eab597ac9d9b1380ba114644
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3598/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.2_0.0_MultiDynamics_arc_11_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3599/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8513f15ecc891d8b2804c3f5bdf473b03e99a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3599/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.3_0.0_MultiDynamics_arc_12_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_36/meta.json b/RH5_dataset_threads_5000eps/frames/episode_36/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..393e402936feee5fbe0ef458f8d7db0d7e4b48a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_36/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.6_0.0_0.0_MultiDynamics_2_0.530_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_360/meta.json b/RH5_dataset_threads_5000eps/frames/episode_360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ba1523ab9222382d4f144fcdba0ccc4552dfc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_360/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.062",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.613,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.6_0.0_0.0_MultiDynamics_6_0.613_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3600/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..240d1e400c52150afaa0c15290fef37f0d667b89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3600/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.4_0.0_MultiDynamics_arc_13_0.127_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3601/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0eb80c2872bd66d23b8553e9d2cca280168156
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3601/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.5_0.0_MultiDynamics_arc_14_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3602/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2185015f188d5d03d5123507af620fc00360b36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3602/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.6_0.0_MultiDynamics_arc_16_0.103_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3603/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad28d78598a6f18d29bfd20ef503a1f399ba99cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3603/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.7_0.0_MultiDynamics_arc_16_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3604/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c634534d03a9e37da115a3ceab33df4bd057b846
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3604/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.8_0.0_MultiDynamics_arc_17_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3605/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1867c86777d965652802ce6d7a5d48196f3d35e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3605/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_1.9_0.0_MultiDynamics_arc_18_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3606/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b321786cfaf94c6530b0422419677f45b9b08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3606/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.1_2.0_0.0_MultiDynamics_arc_19_0.087_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3607/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2c78acd606efe6d6c310487a6657d2febcf0eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3607/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-0.6_0.0_MultiDynamics_arc_5_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3608/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78f9126f0dcd0eb03d428fa32b7274173e1d0279
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3608/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-0.7_0.0_MultiDynamics_arc_6_0.292_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3609/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67de7bacf9f423701621a019a21412333ffa8e18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3609/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-0.8_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_361/meta.json b/RH5_dataset_threads_5000eps/frames/episode_361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..640e3871b9e93a275a027f5f7c934112a6e3834d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_361/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.062",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.63,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.7_0.0_0.0_MultiDynamics_6_0.630_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3610/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dad9e305a7b34c14eb869ffebeb82dbc241f631
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3610/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-0.9_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3611/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eae74c2a96cf4506aef691beb79fa9015738e7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3611/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.0_0.0_MultiDynamics_arc_9_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3612/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d66778d898427cc70a17bf55c4a62d33647ff899
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3612/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.1_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3613/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..958828641dcb9c8fc779afa72d47bf79dedd1ada
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3613/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.2_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3614/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd700b96e35a5c21fbf793f1f75436512d8178d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3614/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.3_0.0_MultiDynamics_arc_12_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3615/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e153472836cb264d930a77d114d6fa5e0faa5c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3615/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.4_0.0_MultiDynamics_arc_13_0.135_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3616/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45c8c4edc3b148325e9609fa1f52d9b63827c7c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3616/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.5_0.0_MultiDynamics_arc_14_0.125_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3617/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fa891306d90377e6f33d2d11f5aa99ab54abe33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3617/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.6_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3618/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c69ea84d60725f3c5e77f22ab959fb356e472f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3618/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.7_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3619/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea55ceaf2b9cb3b327f321082618bb9b8412a58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3619/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.8_0.0_MultiDynamics_arc_17_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_362/meta.json b/RH5_dataset_threads_5000eps/frames/episode_362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06bca928707415dedbca78c3e317f9a19523a9d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_362/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.062",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.554,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.8_0.0_0.0_MultiDynamics_7_0.554_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3620/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca510ffc2fa33b2f72441f5c2c4a729043b9068
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3620/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-1.9_0.0_MultiDynamics_arc_18_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3621/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..810abdf45b8b445b49109568787e11b28450f948
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3621/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_-2.0_0.0_MultiDynamics_arc_19_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3622/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf4a190fc68df47b208b0eaf31eca6097da4333a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3622/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_0.6_0.0_MultiDynamics_arc_5_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3623/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c12dfb672a7022753f83c6326308a097b0e11b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3623/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_0.7_0.0_MultiDynamics_arc_6_0.292_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3624/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d0b2f601baef900acb7391a5c382c56a8befe5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3624/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_0.8_0.0_MultiDynamics_arc_8_0.219_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3625/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa948694d0811a3ba37a1f045b789d66aed64ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3625/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_0.9_0.0_MultiDynamics_arc_8_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3626/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f186dfc9503c7535879d8c8e4d2e8f42644e234f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3626/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.0_0.0_MultiDynamics_arc_9_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3627/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a07bfb4d597809a5139b8e5a9f7f05a4755f4b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3627/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.1_0.0_MultiDynamics_arc_11_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3628/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a80a93034db8734ba43541626b489973789d12d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3628/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.2_0.0_MultiDynamics_arc_11_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3629/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce44725c36cc40446f766365be907eff6c8b9b11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3629/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.3_0.0_MultiDynamics_arc_12_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_363/meta.json b/RH5_dataset_threads_5000eps/frames/episode_363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5119fa69c739eca908d74e8f5e17d80e850960b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_363/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.062",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.569,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_3.9_0.0_0.0_MultiDynamics_7_0.569_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3630/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a034edd5c2e88708ab131f4813c7c8c8f3a833
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3630/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.4_0.0_MultiDynamics_arc_13_0.135_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3631/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a43a8c7f9b94a051853369ff8aefd2c15b3032
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3631/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.5_0.0_MultiDynamics_arc_14_0.125_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3632/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..046ff63ea1cc9fca96e5c7d88a5380787ef780ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3632/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.6_0.0_MultiDynamics_arc_16_0.109_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3633/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ada9262063a7a91261c760bdb78123d2c465a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3633/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.7_0.0_MultiDynamics_arc_16_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3634/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f397d73103521a20089f7432626814b1b666f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3634/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.8_0.0_MultiDynamics_arc_17_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3635/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a4ac855b129edf34588bcf142354e7474daac9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3635/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_1.9_0.0_MultiDynamics_arc_18_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3636/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb585ae7fbe341c753c522c1672ec9e20d48732f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3636/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.2_2.0_0.0_MultiDynamics_arc_19_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3637/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de1362d7f72727a97b6b130d3e7e7a16443ce44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3637/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-0.6_0.0_MultiDynamics_arc_5_0.370_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3638/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5734f206103a6969925eae69af2972e4902371
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3638/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-0.7_0.0_MultiDynamics_arc_6_0.308_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3639/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e99bb691fff5764d4254dec55d2983587f45d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3639/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-0.8_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_364/meta.json b/RH5_dataset_threads_5000eps/frames/episode_364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09c3a85e7a051d183d0d07094a71b22e81384ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_364/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.062",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the green target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/green_4.0_0.0_0.0_MultiDynamics_7_0.583_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3640/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b507742100fd998e4b5db7f8798ddce67dd93a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3640/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-0.9_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3641/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b711d02353683b67772ff72a3379569a0cc9b7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3641/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.0_0.0_MultiDynamics_arc_9_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3642/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df4d1430fa4b16f0ee08cfa788ccbb34c513441
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3642/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.1_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3643/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4330cb527b2ccc0b0d672bea2b29ab5ea193a7dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3643/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.2_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3644/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9add8f299e6bbca97232205900163da8909b2ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3644/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.3_0.0_MultiDynamics_arc_12_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3645/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e33ae6a3d0abf8205afbeb7e846dc188e53e60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3645/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.4_0.0_MultiDynamics_arc_13_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3646/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79fda285015dda12e19359a14ed0643c7e1bcd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3646/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.5_0.0_MultiDynamics_arc_14_0.132_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3647/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3a54801e69a3d21de573393e7504b47b98356ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3647/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.6_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3648/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fadecd5cd599baa5e739189bcbed12bf389dd87d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3648/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.7_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3649/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1ebd3536a36f345fe0e430f83f7c786d823d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3649/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.8_0.0_MultiDynamics_arc_17_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_365/meta.json b/RH5_dataset_threads_5000eps/frames/episode_365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba2811753a6f58b90501acf200ea6f3374e1a1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_365/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.062",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.54,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.0_0.0_0.0_MultiDynamics_2_0.540_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3650/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc9216367873d2931dfd696ca58c242037eb98e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3650/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-1.9_0.0_MultiDynamics_arc_18_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3651/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e07b3b20cba66c9f01fe6d0ff59356662556c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3651/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_-2.0_0.0_MultiDynamics_arc_19_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3652/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3042e83635d447c8cb35d6fbfc0bf9374ef3d2c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3652/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_0.6_0.0_MultiDynamics_arc_5_0.370_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3653/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..915129314254e427d629e371d961311491a8a204
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3653/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_0.7_0.0_MultiDynamics_arc_6_0.308_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3654/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..225c509ed47fd6460093becccd09816caceaf45b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3654/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_0.8_0.0_MultiDynamics_arc_8_0.231_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3655/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8b7d26dd7e0995a55deb765ef9076f1ba596d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3655/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_0.9_0.0_MultiDynamics_arc_8_0.231_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3656/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9eaf231f114c7f8aeda457a9e5e6a57b964b1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3656/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.0_0.0_MultiDynamics_arc_9_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3657/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bdce8e3e75099e6e9303ed96b53755f1a9aeff4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3657/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.1_0.0_MultiDynamics_arc_11_0.168_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3658/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a095127b21dcf67aff446915137a9bdf1c50c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3658/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.2_0.0_MultiDynamics_arc_11_0.168_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3659/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf064626ca52dcc6fad443c70929db5afb62cba4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3659/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.3_0.0_MultiDynamics_arc_12_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_366/meta.json b/RH5_dataset_threads_5000eps/frames/episode_366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacc82659d934c6ae827478d4e17579de95baf19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_366/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.062",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.59,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.1_0.0_0.0_MultiDynamics_2_0.590_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3660/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..622e66151b628d4bdf508f2c3bdf895c13ea563d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3660/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.4_0.0_MultiDynamics_arc_13_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3661/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c7b8f71ba500b7502e144b1b344f1e661ae321
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3661/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.5_0.0_MultiDynamics_arc_14_0.132_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3662/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..351c7aeca8b0c5bf1e8c07f4259d2a22e5a3f478
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3662/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.6_0.0_MultiDynamics_arc_16_0.116_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3663/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8cbc815162671ba526a4f6a1a2cd480edc67bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3663/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.7_0.0_MultiDynamics_arc_16_0.116_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3664/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55e3fe04e47a91117d9cdacbd4249c0149faecea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3664/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.8_0.0_MultiDynamics_arc_17_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3665/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1783340f7cfc8a1ae33f19da570617731235fe9c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3665/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_1.9_0.0_MultiDynamics_arc_18_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3666/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d3e52596f1117908c93d500ac1bb2145108c6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3666/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.3_2.0_0.0_MultiDynamics_arc_19_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3667/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd07e41f42ce3ad005b3a4e8f1de859b7b43073e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3667/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-0.6_0.0_MultiDynamics_arc_5_0.390_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3668/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2818bcc1d19339b1628f74d7425092d3f1bf0b50
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3668/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-0.7_0.0_MultiDynamics_arc_6_0.325_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3669/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f43c6c8802fbf492706393fc4dd9eeb942d82f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3669/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-0.8_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_367/meta.json b/RH5_dataset_threads_5000eps/frames/episode_367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bbce7a8d6165a859abed7a55a41c49f1f4bb6f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_367/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.062",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.427,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.2_0.0_0.0_MultiDynamics_3_0.427_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3670/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f257787182e25e2dbae31f567ff172c1d75fc90d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3670/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-0.9_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3671/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c01511e087da3655f802265f1a4dfa27780698f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3671/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.0_0.0_MultiDynamics_arc_9_0.217_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3672/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6d63649faddd233bf0af141f78399bf0dba8a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3672/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.1_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3673/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff3104c38b76d90a91b874f1e52e2f7ddbeab63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3673/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.2_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3674/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c64836f193f9d35a60feea95cd097d8e79af22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3674/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.3_0.0_MultiDynamics_arc_12_0.163_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3675/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d41fa51dd3793bdd8aabab44c53501377abd11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3675/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.4_0.0_MultiDynamics_arc_13_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3676/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa2150c2a89a06282bbe44692cf51d4ef987456
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3676/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.5_0.0_MultiDynamics_arc_14_0.139_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3677/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dabed63267aa1a6033a7bd2ff8bdf7ce2e56429
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3677/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.6_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3678/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e40520b8f717ac161e9903e0fc4364d5d616c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3678/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.7_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3679/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..186d7a33d9148a55038d679b028fb18213d79da8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3679/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.8_0.0_MultiDynamics_arc_17_0.115_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_368/meta.json b/RH5_dataset_threads_5000eps/frames/episode_368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69639a265a6ba5fb26f2c61b1dd42db3cf0d8d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_368/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.477,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.477_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3680/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf177959b52603285db05e2138dba83da46e801
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3680/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-1.9_0.0_MultiDynamics_arc_18_0.108_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3681/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a239a347b8588715d8d2a55d2233a9ec369f90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3681/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_-2.0_0.0_MultiDynamics_arc_19_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3682/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15fb5ede2efdc5e7c57fbf5521f64a031143c2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3682/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_0.6_0.0_MultiDynamics_arc_5_0.390_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3683/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..403d5fb578750192f02d8ab78a875249bdd10d07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3683/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_0.7_0.0_MultiDynamics_arc_6_0.325_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3684/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf2e4fb9ca709bb075cbf3d38e52c75d9ac241a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3684/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_0.8_0.0_MultiDynamics_arc_8_0.244_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3685/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..266ff7fcfb39b9200da475d1b7a6cd2acb4ffc97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3685/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_0.9_0.0_MultiDynamics_arc_8_0.244_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3686/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc096476779234681c2eb19e64aa924f393dbd8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3686/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.0_0.0_MultiDynamics_arc_9_0.217_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3687/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda4bdf116a240dfc9002a5de3f8777bfb1a5434
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3687/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.1_0.0_MultiDynamics_arc_11_0.177_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3688/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ea08611006e0468a4c03d7c6a7165f17e29db8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3688/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.2_0.0_MultiDynamics_arc_11_0.177_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3689/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d07cae7db314f9a515a49d2eae386bc7095c40e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3689/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.3_0.0_MultiDynamics_arc_12_0.163_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_369/meta.json b/RH5_dataset_threads_5000eps/frames/episode_369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f3997112d23f6318dae064dff600fed02c823e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_369/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.062",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.493,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.4_0.0_0.0_MultiDynamics_3_0.493_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3690/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e832a50787deacc8f950adfa5ed269256e8b943
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3690/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.4_0.0_MultiDynamics_arc_13_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3691/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1878c99c35166377aa2692f5a33af6d4336af49b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3691/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.5_0.0_MultiDynamics_arc_14_0.139_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3692/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..117c86060a17a13a312084ebbfb2658e80e81596
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3692/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.6_0.0_MultiDynamics_arc_16_0.122_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3693/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5138db46088ef345793d4c4c5b1a2e040a4b918
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3693/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.7_0.0_MultiDynamics_arc_16_0.122_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3694/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34bab9e8a72940c85c8c970dc7376846723c87c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3694/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.8_0.0_MultiDynamics_arc_17_0.115_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3695/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26438c26c7f75dc9c5091ae6ad721bc1b5841e6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3695/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_1.9_0.0_MultiDynamics_arc_18_0.108_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3696/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b0410fed314273978f4b447eded003ef51bac1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3696/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.4_2.0_0.0_MultiDynamics_arc_19_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3697/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03255cfe18ae0835f4d83a0dcc8845ef8ffdb849
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3697/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-0.6_0.0_MultiDynamics_arc_5_0.410_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3698/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2532f8c7f32bc68ab91780efdc4f3cc8d16a89d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3698/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-0.7_0.0_MultiDynamics_arc_6_0.342_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3699/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5840ac08ce4aca20ea709c5324a98f5df59071b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3699/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-0.8_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_37/meta.json b/RH5_dataset_threads_5000eps/frames/episode_37/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd743c785f4eca87b3dd51047b5064019d15c5fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_37/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.062,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.7_0.0_0.0_MultiDynamics_2_0.580_0.062_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_370/meta.json b/RH5_dataset_threads_5000eps/frames/episode_370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2303a0b18d8d7656d07c043b6477c04bc424f3d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_370/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.062",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.527,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.5_0.0_0.0_MultiDynamics_3_0.527_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3700/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8ea056d2d8fd9b2e1fee49704e114960dd7da2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3700/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-0.9_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3701/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d13e14599b8d49ec345f758ae3f308e7ed46d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3701/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.0_0.0_MultiDynamics_arc_9_0.228_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3702/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6788475ca4a55d87a500e250886c585132a20cf6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3702/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.1_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3703/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0ded5fd40913774834554526bf39d4f7a6f068
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3703/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.2_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3704/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db2dabafd2e0b504e7829a04c9b396748f82090
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3704/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.3_0.0_MultiDynamics_arc_12_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3705/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98da280d422b46ea714ee287857a98c235658e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3705/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.4_0.0_MultiDynamics_arc_13_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3706/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96bcbace35c502cd2445b81b9453757ff14bbb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3706/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.5_0.0_MultiDynamics_arc_14_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3707/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24b617cd12ba206471b09731aa2d62f22fc5bce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3707/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.6_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3708/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dc3a4e517bad081fce63b558f899a9fadcfb60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3708/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.7_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3709/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8865446dbbcd8c0414c3db2c0b746c811b10a6a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3709/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.8_0.0_MultiDynamics_arc_17_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_371/meta.json b/RH5_dataset_threads_5000eps/frames/episode_371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e38e114e742d9a9306885180b80935a38d83e16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_371/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.062",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.56,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.6_0.0_0.0_MultiDynamics_3_0.560_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3710/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caccca9171120a8010a27fe33a428c3732b82508
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3710/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-1.9_0.0_MultiDynamics_arc_18_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3711/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3994c0327b8a52d25a26d9a23b21f5e0dae65617
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3711/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_-2.0_0.0_MultiDynamics_arc_19_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3712/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e733cde4a6f17ec1c372cf0de8da0ef827444a69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3712/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_0.6_0.0_MultiDynamics_arc_5_0.410_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3713/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bec1850e57d6c8f898153382ebb23ec309a2839
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3713/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_0.7_0.0_MultiDynamics_arc_6_0.342_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3714/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca47a8a5c82dd423fde7ceb49ccd25dc5446029e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3714/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_0.8_0.0_MultiDynamics_arc_8_0.256_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3715/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..244f0a9e371cd0277b26c08bd83a796260bffe55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3715/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_0.9_0.0_MultiDynamics_arc_8_0.256_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3716/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7403939006251c358adc00b08d901c539a48b366
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3716/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.0_0.0_MultiDynamics_arc_9_0.228_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3717/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49be01c070585bd550217b791240cf1abdfe788
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3717/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.1_0.0_MultiDynamics_arc_11_0.186_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3718/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb67ed3a064b17f242a38840ecd6e127fa3ad6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3718/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.2_0.0_MultiDynamics_arc_11_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3719/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..550d522dcdb33367272a74b8f13f7bfd7b5f88cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3719/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.3_0.0_MultiDynamics_arc_12_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_372/meta.json b/RH5_dataset_threads_5000eps/frames/episode_372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d38bda9ef4bf68a521bb184dc86985f24a0e0c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_372/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.062",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.593,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.7_0.0_0.0_MultiDynamics_3_0.593_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3720/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..854e42282dee9059ec9fd2152dfd8098c6e0a01a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3720/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.4_0.0_MultiDynamics_arc_13_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3721/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42c57647bc3f82195a6da8cb4bacb9ab73983742
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3721/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.5_0.0_MultiDynamics_arc_14_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3722/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..524d2583fd486c927058055e192d6036c86cfeb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3722/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.6_0.0_MultiDynamics_arc_16_0.128_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3723/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d52164f1393f11b2009a495a843b4bad453df0b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3723/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.7_0.0_MultiDynamics_arc_16_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3724/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6438497e7470c7d6c4900397e8ad270b052f9871
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3724/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.8_0.0_MultiDynamics_arc_17_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3725/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..668a072d2d592abfac89e01ff0bf5582b37a0eee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3725/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_1.9_0.0_MultiDynamics_arc_18_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3726/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b873ca7a3619620f632be4016aef2ef54e1a4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3726/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.5_2.0_0.0_MultiDynamics_arc_19_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3727/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e2db29c0c4082fdec913bbd6b3180b9ddba4eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3727/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-0.6_0.0_MultiDynamics_arc_5_0.430_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3728/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa6768a92d27135eae87dbfc384afb79c0988ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3728/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-0.7_0.0_MultiDynamics_arc_6_0.358_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3729/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..263ec5a18b57a8d02135a7921a37a7ba8bbb393a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3729/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-0.8_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_373/meta.json b/RH5_dataset_threads_5000eps/frames/episode_373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab9d215d6fd0417678c04006987bce18a52638b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_373/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.062",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.627,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.8_0.0_0.0_MultiDynamics_3_0.627_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3730/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a93d4a58810dfb71a1c63958816eb2cdd3386d6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3730/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-0.9_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3731/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91480159c3f49fe2a409ac9b42a4d7566816fac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3731/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.0_0.0_MultiDynamics_arc_9_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3732/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85e3fba89c6755cdbd13db69668532a86f970431
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3732/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.1_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3733/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28856b29f64a2afab8bb0536625eb8afd385ce6e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3733/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.2_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3734/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bd03e78e27e1dfe0d9240f46114a02ff584093
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3734/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.3_0.0_MultiDynamics_arc_12_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3735/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..089c9f5121218f972462d2c5cb42555a76f777e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3735/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.4_0.0_MultiDynamics_arc_13_0.165_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3736/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb8ec3a5d98db4a1de7924618d754ecc037c72ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3736/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.5_0.0_MultiDynamics_arc_14_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3737/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e266328956a7021c33c3972591a0184a9a0ce11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3737/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.6_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3738/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea0cb036c44ac0cdd58088743b8d5cc361bc580
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3738/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.7_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3739/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39eacb7b1f7c88f1b9983da1a0606e07c4a0a7df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3739/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.8_0.0_MultiDynamics_arc_17_0.126_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_374/meta.json b/RH5_dataset_threads_5000eps/frames/episode_374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9eca2cbe3bd81d14e6b0297a90634ca0a153e49
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_374/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.062",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.495,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_1.9_0.0_0.0_MultiDynamics_4_0.495_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3740/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad96367cc899d904ab731c38f112ee247864beab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3740/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-1.9_0.0_MultiDynamics_arc_18_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3741/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abe506df248e837af54305c139214c323719fce8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3741/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_0.6_0.0_MultiDynamics_arc_5_0.430_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3742/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..821ac3e120be9cccceb39ba6bc8c4ab3beb44c2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3742/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_-2.0_0.0_MultiDynamics_arc_19_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3743/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d605759857ffe816eb395d6ff0c9dbab52912b5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3743/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_0.7_0.0_MultiDynamics_arc_6_0.358_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3744/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc53a4d842a8cc0a7d3980d86ce541f146bc215
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3744/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_0.8_0.0_MultiDynamics_arc_8_0.269_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3745/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9464aca62321238a89a2f00d936ffd68d61559b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3745/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_0.9_0.0_MultiDynamics_arc_8_0.269_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3746/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e125ca85f19bb9e744a1ed27aba8fe7b40c9d25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3746/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.0_0.0_MultiDynamics_arc_9_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3747/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53b2c957d8db651aa090f913857794cac5d23d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3747/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.1_0.0_MultiDynamics_arc_11_0.195_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3748/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c40fccc61f8099b1446acac8cadf0a28021bbcc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3748/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.2_0.0_MultiDynamics_arc_11_0.195_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3749/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f5291c1d088db9456cf3a2d604f43db3bd3239
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3749/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.3_0.0_MultiDynamics_arc_12_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_375/meta.json b/RH5_dataset_threads_5000eps/frames/episode_375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a5f37b6c5a7ba669cd723dde3383c1f02c0d8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_375/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.062",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.52,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.0_0.0_0.0_MultiDynamics_4_0.520_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3750/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79916b7d90e59ee411f06982dfa16845152f343
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3750/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.4_0.0_MultiDynamics_arc_13_0.165_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3751/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8554f723426f134ee001bff69171a705259fea89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3751/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.5_0.0_MultiDynamics_arc_14_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3752/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe49d273a7f84d7abf4ef1a9ba87e84a42825699
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3752/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.6_0.0_MultiDynamics_arc_16_0.134_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3753/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec77579eaeb2c9ea4357385ecdd0b4088c2480a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3753/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.7_0.0_MultiDynamics_arc_16_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3754/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e395d0536ac268fe2d546c4d81766f039fe589a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3754/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.8_0.0_MultiDynamics_arc_17_0.126_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3755/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d18c6bb0d8e3dc735e936380c7e9894ec015549
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3755/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_1.9_0.0_MultiDynamics_arc_18_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3756/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe1e38cf09ef7838177f36e0e2ea1d7812109a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3756/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-0.6_0.0_MultiDynamics_arc_5_0.450_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3757/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e3ea562c131d26a716eed59a0b0cd11e1b3f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3757/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.6_2.0_0.0_MultiDynamics_arc_19_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3758/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f530cccaae2ff7ed86c92cefe93637da08154f4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3758/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-0.7_0.0_MultiDynamics_arc_6_0.375_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3759/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c81b47e5cefdc93b0acef8ff402e0029585dcc5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3759/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-0.8_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_376/meta.json b/RH5_dataset_threads_5000eps/frames/episode_376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d856ae0ae132bd9f8f0d717994788ab84dbbf60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_376/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.062",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.545,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.1_0.0_0.0_MultiDynamics_4_0.545_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3760/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb9eb368453f77234cc4b3935df04d272fcee1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3760/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-0.9_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3761/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b65570ee518c4a78f3158d42559dc03276c8d65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3761/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.0_0.0_MultiDynamics_arc_9_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3762/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c21bc29d5a17f902fb985d457eb48bccf7f457
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3762/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.1_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3763/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd79121ea9e6bae820bdc21ca4e4326f9ea55ba5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3763/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.2_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3764/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53da6e49398951d16e2de28efc65cb2bc1333728
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3764/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.3_0.0_MultiDynamics_arc_12_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3765/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..813e015e2bf7d2098bee909b7e6adea7e587b13b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3765/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.4_0.0_MultiDynamics_arc_13_0.173_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3766/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f278b841e8831c1e6074775dcb918f55a65d9af0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3766/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.5_0.0_MultiDynamics_arc_14_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3767/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1bb8d9b191523f4ce6e7daa25b0199b8606faaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3767/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.6_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3768/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad5d54bc7380e8f9399a766869775c033fc7f714
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3768/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.7_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3769/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8fcc96c2a77d9de24d57b52e7ea71c98af0f0d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3769/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.8_0.0_MultiDynamics_arc_17_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_377/meta.json b/RH5_dataset_threads_5000eps/frames/episode_377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f27740d8759587ed754e781abf315008a0bc7fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_377/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.062",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.57,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.2_0.0_0.0_MultiDynamics_4_0.570_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3770/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ed3a444210a1c6717f9248389a30ef0435bfff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3770/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-1.9_0.0_MultiDynamics_arc_18_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3771/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c05746ba78caa5a28c1c2e6b1db5f3957759dbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3771/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_0.6_0.0_MultiDynamics_arc_5_0.450_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3772/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c54c90f53d8579ade6d5a9cbdf5a09bb4df4bf22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3772/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_-2.0_0.0_MultiDynamics_arc_19_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3773/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b77cd52b0f31c2669d70a0fb18b10321769483ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3773/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_0.7_0.0_MultiDynamics_arc_6_0.375_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3774/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b546dc1d2f185ce726e0462ce26bf3e57c70acf2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3774/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_0.8_0.0_MultiDynamics_arc_8_0.281_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3775/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37077d9eb98811b2d603518247dc1d24c5623791
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3775/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_0.9_0.0_MultiDynamics_arc_8_0.281_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3776/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f63bfd17d1e09c9f7c08b1576c84b91bfcd6291
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3776/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.0_0.0_MultiDynamics_arc_9_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3777/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae0942453c9065628561e02106fd0b87a64795f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3777/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.1_0.0_MultiDynamics_arc_11_0.205_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3778/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4461a9e63b3b982566164028434f3fb3e172c3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3778/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.2_0.0_MultiDynamics_arc_11_0.205_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3779/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6c2e5471ee7010bc8a574a30499e7d3522610b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3779/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.3_0.0_MultiDynamics_arc_12_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_378/meta.json b/RH5_dataset_threads_5000eps/frames/episode_378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31de1dcb22e6cf53d06d869e1ac312cb362cc3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_378/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.062",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.595,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.3_0.0_0.0_MultiDynamics_4_0.595_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3780/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a9985fb560757a4d321dde47ad86f52d84c9b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3780/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.4_0.0_MultiDynamics_arc_13_0.173_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3781/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e97cfab41d59a7c4549b87f37b4284ecf6fbd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3781/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.5_0.0_MultiDynamics_arc_14_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3782/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a831381aa51f06dff001d4781dee320b1b9dc48c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3782/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.6_0.0_MultiDynamics_arc_16_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3783/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e566a3fc78ddccf0dff143fdcbc7a105936c789b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3783/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.7_0.0_MultiDynamics_arc_16_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3784/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f49c640f39ca2f676032b5d69518a614a5677235
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3784/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.8_0.0_MultiDynamics_arc_17_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3785/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53497bf79225f89dfa24f25c7384dcc464c7ffbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3785/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_1.9_0.0_MultiDynamics_arc_18_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3786/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60946a98824d47e636346a37043135a11f10a929
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3786/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-0.6_0.0_MultiDynamics_arc_5_0.470_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3787/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f38971fd87117501f8b3f62b4a0550ef4428acd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3787/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.7_2.0_0.0_MultiDynamics_arc_19_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3788/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c21fdd61ce81090f3496e9b66f453e31521e56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3788/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-0.7_0.0_MultiDynamics_arc_6_0.392_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3789/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93411acdc547388cf30f2e71fcc5a29cfc631271
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3789/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-0.8_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_379/meta.json b/RH5_dataset_threads_5000eps/frames/episode_379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a7db45baa77e365bb1c8e7160457df5c1f60ca2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_379/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.062",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.62,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.4_0.0_0.0_MultiDynamics_4_0.620_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3790/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35352cd7892a04ac40c2e049bf7ddcaf97d6ab05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3790/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-0.9_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3791/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c004289bd71dd1b3db40e75cc9082ebb9125311a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3791/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.0_0.0_MultiDynamics_arc_9_0.261_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3792/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16aa23c91779213062b82f09ac722de60797033d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3792/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.1_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3793/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..592afba630450b7d2536e00d10aacb936a60b6de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3793/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.2_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3794/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2ca9d83b0750761b6ef36f03dc5e69b5d30edd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3794/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.3_0.0_MultiDynamics_arc_12_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3795/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f186ff58c66dcd6cf7505c2bc6ec19e0b01ced
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3795/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.4_0.0_MultiDynamics_arc_13_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3796/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dac3e8003e37ae25fee90ce4b1b2d483d8b7c13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3796/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.5_0.0_MultiDynamics_arc_14_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3797/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c39bf43ea1f1e6b89576d131a797d32fb187119
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3797/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.6_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3798/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e6c028234027ae3f7e75f09458a26799a56a17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3798/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.7_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3799/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a06065dbb5d9149a2927b241b8ce780f1ab3d6bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3799/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.8_0.0_MultiDynamics_arc_17_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_38/meta.json b/RH5_dataset_threads_5000eps/frames/episode_38/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4484a9107cf0905c6b77781c3e93b55d13eaf2a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_38/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.062,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.8_0.0_0.0_MultiDynamics_2_0.630_0.062_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_380/meta.json b/RH5_dataset_threads_5000eps/frames/episode_380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d2079c7038587445083ab535437b7db60db6d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_380/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.062",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.516,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.5_0.0_0.0_MultiDynamics_5_0.516_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3800/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8b7ca1d3d83535786d85376662cd1ba4070aba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3800/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-1.9_0.0_MultiDynamics_arc_18_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3801/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c170acfe23d3286b5106ff71c83c8dc197794916
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3801/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_0.6_0.0_MultiDynamics_arc_5_0.470_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3802/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..732c3934bf0f60ba8c731045f5b48bd8734ad5c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3802/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_-2.0_0.0_MultiDynamics_arc_19_0.124_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3803/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8026a0ec67e8d0a3d7989196e7aab655a4c8d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3803/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_0.7_0.0_MultiDynamics_arc_6_0.392_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3804/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f0f28309f0b127169d70813ba7b10ab7efdb235
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3804/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_0.8_0.0_MultiDynamics_arc_8_0.294_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3805/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3163849f8a29ba40c4f4e84c0aeab46470edca75
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3805/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_0.9_0.0_MultiDynamics_arc_8_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3806/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f874bf10816f04dc8ef4873f24af179bab90424b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3806/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.0_0.0_MultiDynamics_arc_9_0.261_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3807/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2865ce5b215c0a83cd2e057e99a17e59b4f060da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3807/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.1_0.0_MultiDynamics_arc_11_0.214_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3808/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ae134c1ede83b3d1150ca9a9c08b6afbb29439
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3808/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.2_0.0_MultiDynamics_arc_11_0.214_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3809/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9bb91f9a9258756332b6ece2106c503de0e1f3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3809/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.3_0.0_MultiDynamics_arc_12_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_381/meta.json b/RH5_dataset_threads_5000eps/frames/episode_381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c20e2b249ee699dbc455444adc50d234efb2703
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_381/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.536,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.6_0.0_0.0_MultiDynamics_5_0.536_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3810/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..245f4dc634b8ddc58ce653cf8560fd132cffeac1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3810/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.4_0.0_MultiDynamics_arc_13_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3811/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36bbee3b94144bea30993434fabd648ea45f004d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3811/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.5_0.0_MultiDynamics_arc_14_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3812/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d195380fdea63cea0e60d9c45eb39d8cdceaf13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3812/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.6_0.0_MultiDynamics_arc_16_0.147_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3813/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b631dccde5043d8771af82fd3ef92978f925214
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3813/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.7_0.0_MultiDynamics_arc_16_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3814/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b1942b30bf0c0628fe923e9b11614d17f58e1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3814/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.8_0.0_MultiDynamics_arc_17_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3815/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1b75ab9d970898af93806ef38952200eee3d14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3815/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_1.9_0.0_MultiDynamics_arc_18_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3816/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb020391566d8c3498a41d5f8b0621224daff68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3816/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-0.6_0.0_MultiDynamics_arc_5_0.490_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3817/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d562066e5f015aee401628db9f299ab291b128
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3817/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.8_2.0_0.0_MultiDynamics_arc_19_0.124_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3818/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb72232c747f13ee49ace983cfa3360046ce80d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3818/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-0.7_0.0_MultiDynamics_arc_6_0.408_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3819/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..619a9097770d50b2b2449182e134c27edca45c74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3819/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-0.8_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_382/meta.json b/RH5_dataset_threads_5000eps/frames/episode_382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd96c79bb7b3c401b7e7201ab2cd03370a4b4aba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_382/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.062",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.556,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.7_0.0_0.0_MultiDynamics_5_0.556_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3820/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f109ccb2cfa68de796f6f63afa7fcc25c618dacf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3820/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-0.9_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3821/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9359e59f764e85ee93c5612d876e6f00ed167746
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3821/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.0_0.0_MultiDynamics_arc_9_0.272_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3822/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e689419d9e16a4d05b2d8fbe03ae0972dc86fe7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3822/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.1_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3823/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8382e9c01425cc62048faa472de590c02fba16b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3823/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.2_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3824/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8734ebd3d1a91b2ab449909a41eef7de01b1b510
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3824/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.3_0.0_MultiDynamics_arc_12_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3825/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b052ba33b37edc1f5938d267e2a83cf566b6105f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3825/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.4_0.0_MultiDynamics_arc_13_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3826/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0529750d7789d2b86358f0fe7e280a50514eaeda
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3826/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.5_0.0_MultiDynamics_arc_14_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3827/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a100f7522ee412b101c55c89c60248b1ddc78ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3827/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.6_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3828/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68a3c30346cfe1d59494ca718775194298947ea8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3828/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.7_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3829/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f329c251a6a62ce8eadb6e9a4c5de26c1459176
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3829/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.8_0.0_MultiDynamics_arc_17_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_383/meta.json b/RH5_dataset_threads_5000eps/frames/episode_383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdcf00ff2900529a3257a27eaad0a3bca1c7787a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_383/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.062",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.576,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.8_0.0_0.0_MultiDynamics_5_0.576_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3830/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d3662041491e62a14f81c6b85b005235751d1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3830/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-1.9_0.0_MultiDynamics_arc_18_0.136_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3831/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e03f6a53eb8753d0cf5bcd8a072d352fc7160df2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3831/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (2.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_0.6_0.0_MultiDynamics_arc_5_0.490_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3832/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b0a3edb5897d2492e1313a2432c957669a54479
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3832/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_-2.0_0.0_MultiDynamics_arc_19_0.129_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3833/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42e7f32e9b4aad92e75e17b3a58ae8dee31486f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3833/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (2.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_0.7_0.0_MultiDynamics_arc_6_0.408_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3834/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..274f2e80e97bd72e3231340625974368bbab6b72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3834/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_0.8_0.0_MultiDynamics_arc_8_0.306_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3835/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f327c7dc9f226e9ef73d17ca3f04f2eea27609d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3835/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (2.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_0.9_0.0_MultiDynamics_arc_8_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3836/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed38a6740e409fb94539c432faac7eab3a17ab4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3836/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (2.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.0_0.0_MultiDynamics_arc_9_0.272_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3837/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9292185b1a4f7114fd097d5a6df4cdbaff74c98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3837/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.1_0.0_MultiDynamics_arc_11_0.223_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3838/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8688b045bf8eec19f1f5df3abdc6a56e638a8a1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3838/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (2.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.2_0.0_MultiDynamics_arc_11_0.223_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3839/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b674420e0eb3c8fc53bcfb006052b9c6d131b62
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3839/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (2.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.3_0.0_MultiDynamics_arc_12_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_384/meta.json b/RH5_dataset_threads_5000eps/frames/episode_384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c51945d473d4aaa4f1b476ea9585aca09d2fb6b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_384/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.062",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.596,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_2.9_0.0_0.0_MultiDynamics_5_0.596_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3840/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76af000a967ea17b6ce34a6edb4cdc0f85ada4ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3840/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (2.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.4_0.0_MultiDynamics_arc_13_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3841/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd3683fc5e52c759649ad4b954c6fa3a290c763
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3841/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (2.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.5_0.0_MultiDynamics_arc_14_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3842/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f3553e91532893995f876f357edea067031d19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3842/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.6_0.0_MultiDynamics_arc_16_0.153_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3843/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e0f784ecc99abf1adaf48057f1c5adb5d85fc1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3843/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (2.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.7_0.0_MultiDynamics_arc_16_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3844/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..599c27422861afe54dae2be542ee50043ca9eb15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3844/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (2.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.8_0.0_MultiDynamics_arc_17_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3845/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b47775f56dedb9191a779ab6b6013764c4c890
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3845/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (2.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_1.9_0.0_MultiDynamics_arc_18_0.136_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3846/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aece982ee21259d505cc6912038120cb928ed1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3846/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (2.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_2.9_2.0_0.0_MultiDynamics_arc_19_0.129_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3847/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec9b580629325a68895d843beb11bd6df079940
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3847/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3848/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eea163038d98e932297a47c437ddd9dbb9a787e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3848/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-0.7_0.0_MultiDynamics_arc_6_0.425_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3849/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c956029f2b8925965f014d877ecc1bea9bfb223
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3849/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-0.8_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_385/meta.json b/RH5_dataset_threads_5000eps/frames/episode_385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b8750b077fccaf2912d842b4db5625f74c6369
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_385/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.062",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.616,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.0_0.0_0.0_MultiDynamics_5_0.616_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3850/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69bd6fb69ff01000e39aa74020b5449ab5d9bb0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3850/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-0.9_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3851/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f8d803f1c5e7680551735a6553ba3bb2eb9da7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3851/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.0_0.0_MultiDynamics_arc_9_0.283_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3852/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5431e48eb0cc2a75e558dc5f96ddb06aed07e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3852/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.1_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3853/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1b120e93f787b49cbed14b65eb7a4c51e2dc90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3853/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.2_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3854/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda837ddb2021d0c2f55e71dcfdaa6cb2064afc0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3854/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.3_0.0_MultiDynamics_arc_12_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3855/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20eae6c63d2816025d5126e142b01339d1237bde
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3855/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.4_0.0_MultiDynamics_arc_13_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3856/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da9e055b2a1468c8b590a950add79a2cc3f94e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3856/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.5_0.0_MultiDynamics_arc_14_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3857/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0648fe5884f6b5fa0799cbf281a344eced01e00a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3857/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.6_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3858/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1cc294c18fca75a8099a4ba5c44696bb5a4db04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3858/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.7_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3859/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d59a8df079b6b5c495aa37c7df233f78bafaca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3859/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.8_0.0_MultiDynamics_arc_17_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_386/meta.json b/RH5_dataset_threads_5000eps/frames/episode_386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd82a4448a3b9993bc740ff262e946a2f57a623
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_386/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.53,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.1_0.0_0.0_MultiDynamics_6_0.530_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3860/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2eacdfbcda51ee155e9170bcccde24450e2ba4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3860/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-1.9_0.0_MultiDynamics_arc_18_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3861/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5f166025a006b7ce5ccf6f2c2e34d0929e1f7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3861/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3862/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2ef63e3efcafd6c49c0965c382be5df2ff4c40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3862/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_-2.0_0.0_MultiDynamics_arc_19_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3863/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c0a34fed5e3228ee920df0b246ecfe6385e8dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3863/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_0.7_0.0_MultiDynamics_arc_6_0.425_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3864/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c11c60334fb0fc0d4fa6d2987d070c27cf18c8ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3864/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_0.8_0.0_MultiDynamics_arc_8_0.319_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3865/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef123205bbd67df01cac37a23a5046951d4aab1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3865/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_0.9_0.0_MultiDynamics_arc_8_0.319_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3866/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73aaf6ec84d37079cad5e6eb6eea9719c06f616d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3866/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.0_0.0_MultiDynamics_arc_9_0.283_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3867/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b716497a52f8346c642ffdd352476c1bcd8be09f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3867/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.1_0.0_MultiDynamics_arc_11_0.232_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3868/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b4ece8484cf0781bc79836f4f8a7a6e67dc279
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3868/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.2_0.0_MultiDynamics_arc_11_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3869/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ec3b7c9143c040a083c2f544cd6ca745f94cb7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3869/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.3_0.0_MultiDynamics_arc_12_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_387/meta.json b/RH5_dataset_threads_5000eps/frames/episode_387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77f68c78deea04841ef83fdcd39dd809296418d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_387/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.062",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.547,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.2_0.0_0.0_MultiDynamics_6_0.547_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3870/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e377b930822eed616d1961cd9433a3c25ccbcce1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3870/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.4_0.0_MultiDynamics_arc_13_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3871/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24a97bffdb5194fef84d65232e6ccebf6c09b130
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3871/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.5_0.0_MultiDynamics_arc_14_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3872/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3361c69eee111f0fca9080be04bbf91a62a0c5bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3872/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.6_0.0_MultiDynamics_arc_16_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3873/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..044e6981cc4d0bda79d44528949fc6924340edd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3873/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.7_0.0_MultiDynamics_arc_16_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3874/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d93f8372136d232952f2d5350eb9e5bc2bb476
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3874/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.8_0.0_MultiDynamics_arc_17_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3875/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83675e95275ed909ba1076c6879239e82dc12a02
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3875/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_1.9_0.0_MultiDynamics_arc_18_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3876/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3815f388e146484d763e7f18422c6170f0505c04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3876/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.0_2.0_0.0_MultiDynamics_arc_19_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3877/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7952c9f94da5a72951b423dcc9ab7faf6cbc7c66
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3877/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3878/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ebff7f8c658f1fcb829010fd2d99f8ac2528aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3878/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-0.7_0.0_MultiDynamics_arc_6_0.442_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3879/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28271717b9c6a49a763d5b1ce7fae87d365ae203
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3879/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-0.8_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_388/meta.json b/RH5_dataset_threads_5000eps/frames/episode_388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fd06eea07768748556924d1c3af68fe9ba15f10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_388/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.062",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.563,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.3_0.0_0.0_MultiDynamics_6_0.563_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3880/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86b06be03a7889ce886cc87cbb4680bd94426c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3880/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-0.9_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3881/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93843a7857b37999ae8393397362a09f17784049
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3881/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.0_0.0_MultiDynamics_arc_9_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3882/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76b0c10eb3693cba8704656e3749d51e23c0b483
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3882/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.1_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3883/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..221bdc1acfbb187cd677e23ad039bdcf1ee6bdb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3883/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.2_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3884/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4acc48a5afbc2d0ab89ed988a41f6c52129e5cf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3884/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.3_0.0_MultiDynamics_arc_12_0.221_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3885/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f3917e6a5907eb58d741b4d6baa0c30c0ece10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3885/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.4_0.0_MultiDynamics_arc_13_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3886/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa392313c8ef7f35018d59f1c3c90489c9c3b5cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3886/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.5_0.0_MultiDynamics_arc_14_0.189_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3887/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e1b5419dfd80f7a480f7588b34038bd7d7eccef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3887/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.6_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3888/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23092d9b7fbbc3eb0f05004d909e4001b7080296
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3888/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.7_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3889/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f4728df9dce33c07bf55836622469d8f4f6ab6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3889/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.8_0.0_MultiDynamics_arc_17_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_389/meta.json b/RH5_dataset_threads_5000eps/frames/episode_389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6eb2e7cda6ac020f163bf53dbcda415c7a664d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_389/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.4_0.0_0.0_MultiDynamics_6_0.580_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3890/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d185d1319e41ef5d12ecf52153783df175371ad0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3890/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-1.9_0.0_MultiDynamics_arc_18_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3891/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e0d7c13e68f074ca66fd01965b15041f5422e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3891/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3892/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d4a3ddfcd34dd5310e8b96287637f798f013209
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3892/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_-2.0_0.0_MultiDynamics_arc_19_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3893/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9f8f681682ee6cb91c7b65c91cba5aee4fa49e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3893/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_0.7_0.0_MultiDynamics_arc_6_0.442_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3894/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed58f126b3a9a4c22776be93cafc073cd43ac14e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3894/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_0.8_0.0_MultiDynamics_arc_8_0.331_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3895/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..568474aadc360b8a41b3d9f229dcba36b209f65c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3895/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_0.9_0.0_MultiDynamics_arc_8_0.331_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3896/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9872629bb89062803b9cbc36f90dece7923b290e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3896/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.0_0.0_MultiDynamics_arc_9_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3897/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0c2bbc63364c313b2c96480c380e864865e616
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3897/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.1_0.0_MultiDynamics_arc_11_0.241_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3898/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f9300992b0aea68f30b1935e08d938ea89be8f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3898/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.2_0.0_MultiDynamics_arc_11_0.241_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3899/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aefe7950ff2b5401c32a18943adcb894eae2a37a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3899/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.3_0.0_MultiDynamics_arc_12_0.221_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_39/meta.json b/RH5_dataset_threads_5000eps/frames/episode_39/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..243242132d2e2cdc7591cef1ccd59f7be8071067
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_39/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.0_0.0_0.0_MultiDynamics_3_0.477_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_390/meta.json b/RH5_dataset_threads_5000eps/frames/episode_390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6df539f95b5b04c40325bb16d423f21512cc37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_390/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.062",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.597,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.5_0.0_0.0_MultiDynamics_6_0.597_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3900/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8acd801f4a8e5e2bcd1e78b8556274197d571fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3900/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.4_0.0_MultiDynamics_arc_13_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3901/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e117661cb431e7f30e4bfaea60f066a2c45c9812
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3901/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.5_0.0_MultiDynamics_arc_14_0.189_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3902/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c76c40097ba76ec5116c5b67529f1e860d8e949
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3902/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.6_0.0_MultiDynamics_arc_16_0.166_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3903/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63efa3abb1f754c8f1859d555bd88d626c416764
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3903/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.7_0.0_MultiDynamics_arc_16_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3904/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b958b58a84957c8b699b50259d5e042e9126c074
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3904/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.8_0.0_MultiDynamics_arc_17_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3905/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e328a79835ea975ecef671673ebe65b88c33505
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3905/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_1.9_0.0_MultiDynamics_arc_18_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3906/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdcb067dcb1bac293b81b2216a32cf1a3dd2667b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3906/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.1_2.0_0.0_MultiDynamics_arc_19_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3907/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9161b294283ec51f1b32651e02a38d3a1879da90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3907/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3908/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1bce04cb6483fad73fd0e20054f25dcc18035a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3908/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-0.7_0.0_MultiDynamics_arc_6_0.458_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3909/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..934eecdc75dbd1b587619db0a347b890bd6386c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3909/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-0.8_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_391/meta.json b/RH5_dataset_threads_5000eps/frames/episode_391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcc6230c44cd195c66a34e4db501a8020a41d34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_391/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.062",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.613,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.6_0.0_0.0_MultiDynamics_6_0.613_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3910/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a80675ab2dbfaabaadb17b63886030d89a50a53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3910/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-0.9_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3911/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..739b29cdf4b47c33260b1c673614de500c4de39c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3911/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.0_0.0_MultiDynamics_arc_9_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3912/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f87e681b2253d8f1d68d6c33b322409bbd34dfd4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3912/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.1_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3913/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a91e11a37ba0c6ccc40686050313dbbf155f64
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3913/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.2_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3914/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20d07fd127ec65ff672abb260bc18072cde4896
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3914/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.3_0.0_MultiDynamics_arc_12_0.229_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3915/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1a83782985118c8e6a826b815beb1c2bf11aa8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3915/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.4_0.0_MultiDynamics_arc_13_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3916/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfd1ac388bd97ed644bab74ab05d960f83367b77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3916/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.5_0.0_MultiDynamics_arc_14_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3917/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a747b84457d74d0057e739fd44b4c27c3a27a1be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3917/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.6_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3918/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ebdb7f967bbaa797f751104716fb965f0f46204
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3918/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.7_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3919/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ca9a681bd47e1a54e5ea1b40cfcc67b01b1987
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3919/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.8_0.0_MultiDynamics_arc_17_0.162_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_392/meta.json b/RH5_dataset_threads_5000eps/frames/episode_392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb64dd2739a343442cdcc5abecbfe69cb462e5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_392/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.062",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.63,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.7_0.0_0.0_MultiDynamics_6_0.630_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3920/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee23a4eee7d0581c9ed367ca18e76158d518d732
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3920/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-1.9_0.0_MultiDynamics_arc_18_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3921/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d87fa113ac2e33c4765837e26e7c6da2a2fa07c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3921/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_-2.0_0.0_MultiDynamics_arc_19_0.145_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3922/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae5038683287fa4305ffce2865ebd94b3d997d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3922/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3923/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eeb879dd31a7d9788dfab214a94afeb7e1e7d70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3923/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_0.7_0.0_MultiDynamics_arc_6_0.458_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3924/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e3f86b2d1d1d7a99a4b24c5609436b9f535164
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3924/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_0.8_0.0_MultiDynamics_arc_8_0.344_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3925/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f52184add2d58a0cdd9b7b01827ef2cc56fd8ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3925/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_0.9_0.0_MultiDynamics_arc_8_0.344_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3926/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d8d95680c32fcbce2dfc98662aeb784ccf78d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3926/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.0_0.0_MultiDynamics_arc_9_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3927/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5078ee9b9ca170b357f6c6913e72f049901c5cb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3927/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.1_0.0_MultiDynamics_arc_11_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3928/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb39aef1f4af500d3c7de126c34e1a57df642c92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3928/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.2_0.0_MultiDynamics_arc_11_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3929/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af6e13cd96ee20812cfd667e94974c103a00650
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3929/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.3_0.0_MultiDynamics_arc_12_0.229_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_393/meta.json b/RH5_dataset_threads_5000eps/frames/episode_393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c4f61943c83e8a16d73db7d06aac4d67b4d3d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_393/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.062",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.554,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.8_0.0_0.0_MultiDynamics_7_0.554_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3930/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff83a6f88f5a72a73c0fe688cc3eb0a5d5589a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3930/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.4_0.0_MultiDynamics_arc_13_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3931/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0aeb33048f57034c5b1f819162939fa0db3aa25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3931/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.5_0.0_MultiDynamics_arc_14_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3932/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e9a58b3bed2ea8f922846fa91884979b23c7d3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3932/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.6_0.0_MultiDynamics_arc_16_0.172_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3933/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98af130ec5412ce92e88f67927743bcc528dde06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3933/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.7_0.0_MultiDynamics_arc_16_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3934/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a477f8d43a50782cb5bc3f619a8c3b6fa85454
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3934/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.8_0.0_MultiDynamics_arc_17_0.162_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3935/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab41838fe1900e0a5bcbee1bac4ad242369acd5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3935/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_1.9_0.0_MultiDynamics_arc_18_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3936/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95be39fca681bbe1f298828f7fdc5ef4aeb9f9a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3936/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3937/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5cea96974fc866ccd7496a5ce86a8e424a2ae3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3937/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.2_2.0_0.0_MultiDynamics_arc_19_0.145_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3938/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94ba1c003de363d741f36c5c2d33ead4fea3e9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3938/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-0.7_0.0_MultiDynamics_arc_6_0.475_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3939/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b1f4aef20205e2d17bdd75eab2415f38f09e4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3939/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-0.8_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_394/meta.json b/RH5_dataset_threads_5000eps/frames/episode_394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9aeed2034d1903c0f00eca611acd63b14403e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_394/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.062",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.569,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_3.9_0.0_0.0_MultiDynamics_7_0.569_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3940/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79be01ae9f345136c86f93790784fae7c3e27643
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3940/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-0.9_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3941/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2c5ea6c84fa26ae79bae04d67b2f6e43f0365f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3941/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.0_0.0_MultiDynamics_arc_9_0.317_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3942/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae0e3c394efbe1391efc9303969134d6b5e49f80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3942/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.1_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3943/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e53d6cd191e641e5e14aeebf81a5fcbbf56ba952
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3943/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.2_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3944/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11856202aa03bce43f5aa701e76213a33a65c1a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3944/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.3_0.0_MultiDynamics_arc_12_0.237_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3945/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d752f1117152467f97a5b93d805b170de68c449b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3945/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.4_0.0_MultiDynamics_arc_13_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3946/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43eb0515ed5e992fe17f596461251e3d9f9c072b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3946/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.5_0.0_MultiDynamics_arc_14_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3947/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8990269d7225f23c5bff5ea4a083386dec3d7c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3947/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.6_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3948/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..197977477a08f90f3664732f3f8c48a4ac2b38f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3948/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.7_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3949/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca55420916beefae650ad24b5b3d386d74ea4d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3949/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.8_0.0_MultiDynamics_arc_17_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_395/meta.json b/RH5_dataset_threads_5000eps/frames/episode_395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9390e22f63816ffc6c9dfc395158c949febf54b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_395/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.062",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the purple target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/purple_4.0_0.0_0.0_MultiDynamics_7_0.583_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3950/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0ee3f3c9e74a049811a991f3d66fe45f808658d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3950/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-1.9_0.0_MultiDynamics_arc_18_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3951/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc3688b388a74797b5152f511320d780268e3d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3951/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_-2.0_0.0_MultiDynamics_arc_19_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3952/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3562f719dda380da94c2ebbc0e30cbf4f6decc5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3952/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3953/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..155c78cb6f667e13e5c6c371b4bfd8c3df14447e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3953/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_0.7_0.0_MultiDynamics_arc_6_0.475_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3954/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c918bc25f21313248af7fe9ed1d67cf32342f150
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3954/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_0.8_0.0_MultiDynamics_arc_8_0.356_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3955/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c2a755b587cb7a028d38c3cc69472ec6a27b59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3955/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_0.9_0.0_MultiDynamics_arc_8_0.356_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3956/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1273c42cfdabb46a017e708874eb05fd784d49
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3956/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.0_0.0_MultiDynamics_arc_9_0.317_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3957/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c40e996c469b1f2b0e91d9487955cfebae940f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3957/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.1_0.0_MultiDynamics_arc_11_0.259_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3958/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c88d7b645a42c4850a51607b0984f26159845c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3958/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.2_0.0_MultiDynamics_arc_11_0.259_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3959/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e7d39b5fa19d75e0b0beac2a0db3bda8c6ed20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3959/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.3_0.0_MultiDynamics_arc_12_0.237_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_396/meta.json b/RH5_dataset_threads_5000eps/frames/episode_396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fcf25045380a936bbc131296e22cc075a51f471
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_396/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.540:0.062",
+  "object": "target",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.54,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.0_0.0_0.0_MultiDynamics_2_0.540_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3960/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f82ac712f532cd6c6f54f7434a9cec7fb1c018
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3960/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.4_0.0_MultiDynamics_arc_13_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3961/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ac73bb7c71daf928ba08dfbd57e2fa49c6cfa9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3961/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.5_0.0_MultiDynamics_arc_14_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3962/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07cfd1330148248e43bc00b55406cecb0e14e00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3962/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.6_0.0_MultiDynamics_arc_16_0.178_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3963/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0df5db9ad856a54a3734130e1dd728b439ca979
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3963/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.7_0.0_MultiDynamics_arc_16_0.178_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3964/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca0d7bd0b500c4c0360b36e5367151263d172c17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3964/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.8_0.0_MultiDynamics_arc_17_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3965/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee35777c3d980ce7e509870c6990fca41ac9124
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3965/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_1.9_0.0_MultiDynamics_arc_18_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3966/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5950cac7eef7128d8c7cc3b4c7c744a2d2fae184
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3966/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3967/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7cd55cc9c7d8ed2f8bbeb39fedbc4df6b61792
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3967/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.3_2.0_0.0_MultiDynamics_arc_19_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3968/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec86188a637fdf95c254732c9c218bff66112b25
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3968/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-0.7_0.0_MultiDynamics_arc_6_0.492_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3969/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f61e378e90a4f5349d1fc0d304eeec3f699796
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3969/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-0.8_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_397/meta.json b/RH5_dataset_threads_5000eps/frames/episode_397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95852c8edab1aae0d6a5970f8af20512b1cc6cbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_397/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.062",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.59,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.1_0.0_0.0_MultiDynamics_2_0.590_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3970/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e2e796a157098a2cbeba5d7c41097c5284d2ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3970/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-0.9_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3971/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b338d77b5cd7db0d99314762366324ff52bdc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3971/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.0_0.0_MultiDynamics_arc_9_0.328_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3972/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eac77376a49688333ffed0b941d51ccbae17731
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3972/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.1_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3973/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f970a5cf853d5e080e9d6d80777fde661a779fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3973/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.2_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3974/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de681c3761d8a5c9505e36256eb3ea45527ef8e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3974/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.3_0.0_MultiDynamics_arc_12_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3975/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62fedbaf61079a56440347f3e3095cb71d410d9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3975/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.4_0.0_MultiDynamics_arc_13_0.227_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3976/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a5812003338e3650fc42b37bad493627548803
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3976/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.5_0.0_MultiDynamics_arc_14_0.211_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3977/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63074f1dd5020e2e5099892098da8989d642330a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3977/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.6_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3978/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5951a1a250c468361f2edf27770be2756a8c53ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3978/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.7_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3979/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d98cef77bf8b40a549229a9f91093ce923e8e8e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3979/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.8_0.0_MultiDynamics_arc_17_0.174_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_398/meta.json b/RH5_dataset_threads_5000eps/frames/episode_398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67cbe8055dd0572cdce6d162bce1e2754f861572
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_398/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.062",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.427,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.2_0.0_0.0_MultiDynamics_3_0.427_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3980/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a7d23a253c78bce5be254adebaed83d7b81d4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3980/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-1.9_0.0_MultiDynamics_arc_18_0.164_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3981/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6926ee089d20376f189b98f36aaf4f52fe5e1ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3981/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_-2.0_0.0_MultiDynamics_arc_19_0.155_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3982/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d321e018b4224094509090b8a2bc6c0f75bbdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3982/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3983/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..906959c656312e0f96607c6b896ab5077b97e757
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3983/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_0.7_0.0_MultiDynamics_arc_6_0.492_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3984/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae3ae1d70b0c9d53126ffcb59c1794d71c00adf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3984/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_0.8_0.0_MultiDynamics_arc_8_0.369_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3985/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ef75345f20f533dcd0d313cc4f92ef0015cd1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3985/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_0.9_0.0_MultiDynamics_arc_8_0.369_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3986/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b6eb7fb44da2995ba797715c13a026e6c2bb8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3986/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.0_0.0_MultiDynamics_arc_9_0.328_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3987/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab00fa889354cbe08fd2d542f19c31e83090d47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3987/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.1_0.0_MultiDynamics_arc_11_0.268_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3988/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c7b0690f2c3c77607d4c89e1620c5c15a22bd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3988/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.2_0.0_MultiDynamics_arc_11_0.268_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3989/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db852d2288a90676ab0e8b039473de3481e85b50
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3989/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.3_0.0_MultiDynamics_arc_12_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_399/meta.json b/RH5_dataset_threads_5000eps/frames/episode_399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a3b2421b2c91c0f14be3075af848add72563f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_399/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.477,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.477_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3990/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4ac1e121f439119471c9489cf3d246cddc68b05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3990/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.4_0.0_MultiDynamics_arc_13_0.227_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3991/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4813b82762e9a62d5fae16490676cc1c1bbd2ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3991/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.5_0.0_MultiDynamics_arc_14_0.211_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3992/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76ef7300d329a0dd623df69fdae5ea3efe87eaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3992/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.6_0.0_MultiDynamics_arc_16_0.184_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3993/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca449c4c291d30fc26b007a42621c2cb29166df9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3993/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.7_0.0_MultiDynamics_arc_16_0.184_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3994/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc0d6be4c524f76a897d12ead9604e53a687ac20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3994/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.8_0.0_MultiDynamics_arc_17_0.174_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3995/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a62576c83e754f957888b4895b0cccff5d89dfc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3995/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_1.9_0.0_MultiDynamics_arc_18_0.164_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3996/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0880e9dcf588bab612ef3f25d436240e4732a93f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3996/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.4_2.0_0.0_MultiDynamics_arc_19_0.155_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3997/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..593dce215cf2abce00532901e22c1a7fd1388b80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3997/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3998/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74eefb164673bd426a28f3ea38d290352f819971
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3998/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_3999/meta.json b/RH5_dataset_threads_5000eps/frames/episode_3999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6949e607c95438aad9e9b985df4e8d47ded2d3d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_3999/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-0.8_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b970f25f182af8d2ffb0e568e6c9ed8d311adea3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.062,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.8_0.0_0.0_MultiDynamics_2_0.630_0.062_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_40/meta.json b/RH5_dataset_threads_5000eps/frames/episode_40/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb8445d1827762b9a86588ec8cce0604d012252
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_40/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.1_0.0_0.0_MultiDynamics_3_0.510_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_400/meta.json b/RH5_dataset_threads_5000eps/frames/episode_400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ee2658b2d7544e972a851cb23b97b2a789739d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_400/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.062",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.493,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.4_0.0_0.0_MultiDynamics_3_0.493_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4000/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c09ef2136ee1b1c77288055e7ec1ef720106806
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4000/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-0.9_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4001/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cdb8e57d551f4aae159320e39d2955decbcf1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4001/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.0_0.0_MultiDynamics_arc_9_0.339_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4002/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ddc66b51ef2984f70214183b182d6d2124ea0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4002/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.1_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4003/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e2fe9d6caffde31c754e139a0673718d5516e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4003/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.2_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4004/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7145222e1cb851e265d720416ea89c5c9d30d09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4004/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.3_0.0_MultiDynamics_arc_12_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4005/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc4d3aa54d1815ef60f3f4f4ff63d61cfca7435
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4005/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.4_0.0_MultiDynamics_arc_13_0.235_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4006/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7300d80f1ddade539fd99e91221db92451509e1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4006/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.5_0.0_MultiDynamics_arc_14_0.218_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4007/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a92a2146e31ac6ad151461db3ffe64ab72ee4f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4007/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.6_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4008/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..588f299773e9ebe40bcbd15424ac98a5b289610e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4008/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.7_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4009/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e5102d6bd45503289d53bf85d2dfb318613ab6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4009/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.8_0.0_MultiDynamics_arc_17_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_401/meta.json b/RH5_dataset_threads_5000eps/frames/episode_401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc95f8ed481d2dc202409e48d2b0674987a44d07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_401/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.062",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.527,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.5_0.0_0.0_MultiDynamics_3_0.527_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4010/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c6eb6bd1a63b75e4a677f6b58377794f17d2067
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4010/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-1.9_0.0_MultiDynamics_arc_18_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4011/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad209091939cef020bfe00d5da555ed9dd49b35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4011/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_-2.0_0.0_MultiDynamics_arc_19_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4012/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9040852f04b9f3939d223200273298a663258b01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4012/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4013/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..351515e7895f16e1d2a27470000503ce71aed144
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4013/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4014/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..232bd1bcd482a32890c6a20f41de3ed07fea11d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4014/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_0.8_0.0_MultiDynamics_arc_8_0.381_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4015/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ef4cfc94bc238fe7a0414681e588b8465c60dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4015/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_0.9_0.0_MultiDynamics_arc_8_0.381_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4016/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..545913b70c0b3ead3b78a4a419e9de75cb96dc8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4016/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.0_0.0_MultiDynamics_arc_9_0.339_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4017/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dca8350e6a5c0afcb4874665f5b914ccd6e05ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4017/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.1_0.0_MultiDynamics_arc_11_0.277_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4018/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76c8272faae1b7a473e9f1ae8cf46b55138b4f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4018/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.2_0.0_MultiDynamics_arc_11_0.277_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4019/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea25bcb2af8966a39c9980be875c3273b70f081
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4019/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.3_0.0_MultiDynamics_arc_12_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_402/meta.json b/RH5_dataset_threads_5000eps/frames/episode_402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c521a0dbf4dc50390483536694e6e36491429fc5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_402/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.062",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.56,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.6_0.0_0.0_MultiDynamics_3_0.560_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4020/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4115b84a0d5a2449d8eef968b30fe46c2fab27ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4020/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.4_0.0_MultiDynamics_arc_13_0.235_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4021/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6f626e7170eb7087c2bca08e4892ba329ad6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4021/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.5_0.0_MultiDynamics_arc_14_0.218_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4022/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b10919bbf48d458910f4eab326395a0413ceabc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4022/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.6_0.0_MultiDynamics_arc_16_0.191_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4023/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abee6a8d6316e70123452ac7bd8cb8a556ee2379
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4023/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.7_0.0_MultiDynamics_arc_16_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4024/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50082759cc0f2413da1217d7062dd68abc3a3dd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4024/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.8_0.0_MultiDynamics_arc_17_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4025/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb1c8fdc5f168806848319eb6283d72dfebe44f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4025/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_1.9_0.0_MultiDynamics_arc_18_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4026/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d667f8c5376dc84dd278941d8cc6abb2e7c3a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4026/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.5_2.0_0.0_MultiDynamics_arc_19_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4027/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bd0a4c8c3c69e4c87ee78161152b0ee9a114fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4027/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4028/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab8fb870564ab09598462d02a932d441e8a3ba1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4028/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4029/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c64bff1d53c4ad35afa7c19ca053e8f316cbda9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4029/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-0.8_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_403/meta.json b/RH5_dataset_threads_5000eps/frames/episode_403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17bbf925aff5350432dcc7693067673bf70b34fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_403/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.062",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.593,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.7_0.0_0.0_MultiDynamics_3_0.593_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4030/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68fc05f0a2e148766d3edd024fe22ba134071760
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4030/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-0.9_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4031/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea8d68473b22deb89b368feb7e0d2a31a4128ccf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4031/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.0_0.0_MultiDynamics_arc_9_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4032/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc9962059b021d3a69f95858d204e9fbc207ebfa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4032/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.1_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4033/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0026f7ce108431b2bd7e6bdbc19d17446c68170b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4033/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.2_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4034/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f87e9d0219b0148f6cf8f3a748deec2bee61c35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4034/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.3_0.0_MultiDynamics_arc_12_0.263_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4035/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cef6837b55d30ce84c3c41d2cf16dbf60b33685e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4035/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.4_0.0_MultiDynamics_arc_13_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4036/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f327d9b67b603a36b3fc455e4456ead7284a48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4036/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.5_0.0_MultiDynamics_arc_14_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4037/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab303cb5f76ce6616774a98a8b036512d7fae1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4037/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.6_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4038/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71827c7bd5ead5d4d7a1d637718d6001d621a407
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4038/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.7_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4039/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccd984497b20e733bfd7b29236465a3a2ec85797
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4039/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.8_0.0_MultiDynamics_arc_17_0.185_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_404/meta.json b/RH5_dataset_threads_5000eps/frames/episode_404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29cfe562797c936d0eab0b90e6a8e4da16d49c80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_404/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.062",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.627,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.8_0.0_0.0_MultiDynamics_3_0.627_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4040/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99433a518d1b382f7a52a868353d9a6884a407cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4040/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-1.9_0.0_MultiDynamics_arc_18_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4041/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..742f505cdda3cd9904e4617af7efd34473486ef3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4041/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_-2.0_0.0_MultiDynamics_arc_19_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4042/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09bddece1316f467b428a2e5b72835d65aa9654d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4042/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4043/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cd868de6e5a7b43adcef6fecea490d2a46aa49
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4043/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4044/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f1151b53177ce0ed6a28a8baf57fe0afca39d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4044/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_0.8_0.0_MultiDynamics_arc_8_0.394_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4045/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d094f4aa76dc1acdfe5f91ccf50ccd3f03a778
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4045/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_0.9_0.0_MultiDynamics_arc_8_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4046/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe49ad2f76e3bb7e9bbe6744f3e11eeb8a47180
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4046/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.0_0.0_MultiDynamics_arc_9_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4047/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa67ddbdd279111a170f3dfca3249150844a40df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4047/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.1_0.0_MultiDynamics_arc_11_0.286_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4048/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14145b56139066924e7bd34c585efcb4e184e4be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4048/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.2_0.0_MultiDynamics_arc_11_0.286_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4049/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c9555df8e625257ade19d4e7196854c0a73d6b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4049/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.3_0.0_MultiDynamics_arc_12_0.263_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_405/meta.json b/RH5_dataset_threads_5000eps/frames/episode_405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c7c2031ab0694017d8e1d4c065d345fd4486104
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_405/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.062",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.495,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_1.9_0.0_0.0_MultiDynamics_4_0.495_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4050/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd86721da18b5f28c7c6c5bf6673178b07d9e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4050/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.4_0.0_MultiDynamics_arc_13_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4051/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74e62888d3823d28e0b674b32a7571d711e73e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4051/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.5_0.0_MultiDynamics_arc_14_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4052/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63700c602e86c75e8bb936479a5f717ddefef1de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4052/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.6_0.0_MultiDynamics_arc_16_0.197_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4053/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2979373d2e379de837ff42f6ef3f102cbe00cf3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4053/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.7_0.0_MultiDynamics_arc_16_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4054/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b52f39b403d3a73c3c2694dc5ae761c5d6495a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4054/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.8_0.0_MultiDynamics_arc_17_0.185_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4055/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb92763283b02300bc3498053f2dd5337a32df7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4055/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_1.9_0.0_MultiDynamics_arc_18_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4056/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddec7bce62f30c0aa4f3e4d734cad18db5d10e4a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4056/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.6_2.0_0.0_MultiDynamics_arc_19_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4057/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0306441f5edec715b56cab83eee6a9aa54b70ede
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4057/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4058/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91d9a1ebc5f972cd4c602fd1004ca6ea23246b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4058/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4059/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a94097b0286df5305a30f18ba0996e07d79a1b36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4059/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-0.8_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_406/meta.json b/RH5_dataset_threads_5000eps/frames/episode_406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb9613e6311590536cfb82881dcde863cc387bdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_406/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.062",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.52,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.0_0.0_0.0_MultiDynamics_4_0.520_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4060/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82113cc205ad2744a9f82e35b6ef3cc6437546b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4060/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-0.9_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4061/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca8e16c752c9d366f21a3587f69fc8d60d6875e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4061/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.0_0.0_MultiDynamics_arc_9_0.361_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4062/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eea9b8d3f782f2961544fa2eddbf67543d9e958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4062/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.1_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4063/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b7f6d86efd4d7ecd462651cdd4a87ffe071d79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4063/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.2_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4064/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b89cfccf6630aa736cbc70daf12d68ff070e217a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4064/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.3_0.0_MultiDynamics_arc_12_0.271_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4065/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4970ef9b56037e9da848f62b299e66b3a2036ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4065/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.4_0.0_MultiDynamics_arc_13_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4066/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..636bd44a79b79e2add047246a7c6ca4941cb9e5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4066/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.5_0.0_MultiDynamics_arc_14_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4067/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ca0b5e9c39ca4bc6b36f9b2444d191881355e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4067/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.6_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4068/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8698183a73390d3bcf049b9f14657d82ef4f81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4068/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.7_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4069/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17319d39fb75f28b2b53ec1de784ea0156029ce1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4069/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.8_0.0_MultiDynamics_arc_17_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_407/meta.json b/RH5_dataset_threads_5000eps/frames/episode_407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca8c7f04d4acee146613f5ba6025d73636f13a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_407/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.062",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.545,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.1_0.0_0.0_MultiDynamics_4_0.545_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4070/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18be19ddce476b281498489e3ce32d1b8c1acc6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4070/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-1.9_0.0_MultiDynamics_arc_18_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4071/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..063435e533208f615cfe3e0068f680648ec543ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4071/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_-2.0_0.0_MultiDynamics_arc_19_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4072/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f91f2bf67a6274e867c805265a4218eecfa42fea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4072/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4073/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51ff19a9b477e175e097983630bed3b99660077
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4073/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4074/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5e01e9f3ee77ca52055bc7391b801b16e017d78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4074/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_0.8_0.0_MultiDynamics_arc_8_0.406_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4075/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..560a5c9a1474258743bcce6391be82c4a5ea6dd5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4075/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_0.9_0.0_MultiDynamics_arc_8_0.406_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4076/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a503ff46120e7b70c54d3b181beaaae2b2626717
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4076/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.0_0.0_MultiDynamics_arc_9_0.361_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4077/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ea40cec97c3565337d54ac420044ccd1920473
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4077/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.1_0.0_MultiDynamics_arc_11_0.295_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4078/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86cd2ee90b6b3c3a30fdd79127cb0879fd25c82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4078/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.2_0.0_MultiDynamics_arc_11_0.295_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4079/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b8126ff23b6033649159ac232a82722b80b03c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4079/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.3_0.0_MultiDynamics_arc_12_0.271_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_408/meta.json b/RH5_dataset_threads_5000eps/frames/episode_408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ade1699b352f5ef5611bb5e2828c6c6c24474ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_408/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.062",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.57,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.2_0.0_0.0_MultiDynamics_4_0.570_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4080/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..665909f59635ef5db19b5213be42cca46b51959f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4080/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.4_0.0_MultiDynamics_arc_13_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4081/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ae1ba5f8137a5c5f6e3436d6e66dcaadf4dfbc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4081/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.5_0.0_MultiDynamics_arc_14_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4082/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7989854e2ef42d180aeb831cdb320dcb6e9874a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4082/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.6_0.0_MultiDynamics_arc_16_0.203_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4083/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e2bbb12d07167f0d3dd8197074420f9ba2b7f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4083/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.7_0.0_MultiDynamics_arc_16_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4084/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c16f7c49dfef9e72e7a3a863def1adc185e8896
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4084/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.8_0.0_MultiDynamics_arc_17_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4085/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c076785b5d94470f040b08cd17f573b9fa7f318b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4085/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_1.9_0.0_MultiDynamics_arc_18_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4086/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80beb0f0da867a88bea0a385bb6f7e7f101b91f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4086/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4087/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e0e6ec4e5957fb9eac4b2842c431fd9449452d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4087/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.7_2.0_0.0_MultiDynamics_arc_19_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4088/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc676974417b323116135004a0af57810d7b00d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4088/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4089/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e072e6bd21e5dc578f2e2df04243efaa6b18eaf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4089/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-0.8_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_409/meta.json b/RH5_dataset_threads_5000eps/frames/episode_409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f6e95360cb66447d036cf1a3d218377a5e1efad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_409/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.062",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.595,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.3_0.0_0.0_MultiDynamics_4_0.595_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4090/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ffbb9f143649eaaa3b6c5d18bbcddf7797d38e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4090/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-0.9_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4091/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa6ec5f2a3f55e028f64dba881c1ae14e387847
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4091/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.0_0.0_MultiDynamics_arc_9_0.372_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4092/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6b4ca7b615c9ae6b338ad741d219202ae68653
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4092/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.1_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4093/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d032b3c198845a9a8be4a62e794eba3ac478609
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4093/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.2_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4094/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a907eccd4d421370141b555803d0c17f34895f1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4094/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.3_0.0_MultiDynamics_arc_12_0.279_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4095/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57363825ceea6e1cd390d4280b99e62edfb05851
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4095/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.4_0.0_MultiDynamics_arc_13_0.258_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4096/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c53fcc912869df2563c67dcdf2798cd82194ccbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4096/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.5_0.0_MultiDynamics_arc_14_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4097/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..589487726e3995c4dc304ce8de5ea04f504a098d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4097/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.6_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4098/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abbec199f4f94bcf89b2239d5f2d307882defa58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4098/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.7_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4099/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..046684f676e85b24b1ba21eb9a433b1b3e277095
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4099/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.8_0.0_MultiDynamics_arc_17_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_41/meta.json b/RH5_dataset_threads_5000eps/frames/episode_41/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..604c4bfc4bd86088512027436e45b62d2e0b54ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_41/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.543:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.2_0.0_0.0_MultiDynamics_3_0.543_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_410/meta.json b/RH5_dataset_threads_5000eps/frames/episode_410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03b9ccc66bc279cf4557818e2160f66c7e2b330
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_410/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.062",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.62,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.4_0.0_0.0_MultiDynamics_4_0.620_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4100/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2750e72857e798aded43a0e14739ca2ebf3de5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4100/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-1.9_0.0_MultiDynamics_arc_18_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f535566362897d875370722fbadda97b7f1e4e85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4101/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00402a0b5cd638787867da7567ba96ed85a960d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4102/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_-2.0_0.0_MultiDynamics_arc_19_0.176_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a859c58eb1e423ac2438a18852c118da586c3bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4103/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f56e3252b4f6677109ecdd9447ca2fcb4debdbd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4104/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_0.8_0.0_MultiDynamics_arc_8_0.419_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0caca7318c9d7f08ccb7bd358737b0accd89eac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4105/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_0.9_0.0_MultiDynamics_arc_8_0.419_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1ff75bf95e63dd8abffb1e322f249df2bdd9f8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4106/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.0_0.0_MultiDynamics_arc_9_0.372_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dac0a8749b2d82f2929713e114637e751a5fa8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4107/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.1_0.0_MultiDynamics_arc_11_0.305_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95a0fe439f9753faa6c3165d29103021098a8fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4108/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.2_0.0_MultiDynamics_arc_11_0.305_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4fb5f5e5b39058278b1763b2a21405fdb6bc69c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4109/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.3_0.0_MultiDynamics_arc_12_0.279_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_411/meta.json b/RH5_dataset_threads_5000eps/frames/episode_411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c05aeb97df91275b1126b0c9b966f5ff1a13f1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_411/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.062",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.516,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.5_0.0_0.0_MultiDynamics_5_0.516_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab6d1296c57c0db4f7e9875d63bf49f02b5f55b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4110/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.4_0.0_MultiDynamics_arc_13_0.258_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6554c01300256c3cba7b2f73ab710929058771ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4111/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.5_0.0_MultiDynamics_arc_14_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f30b4ff200af11a219d84efb8b620c17a5c445
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4112/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.6_0.0_MultiDynamics_arc_16_0.209_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b38bfc4c46dbc2ada5d4c655ad80c37c547502c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4113/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.7_0.0_MultiDynamics_arc_16_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f932d553a8022b9b24ce230fc45890d2e0940df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4114/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.8_0.0_MultiDynamics_arc_17_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b4b6005b00bb1c7b1ec2be990124ce462514d0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4115/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_1.9_0.0_MultiDynamics_arc_18_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b1c34c0f4800266ae625fd282b2443dbf3c0c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4116/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de609605cf05b02d5c7c8d4289b91e1ba3274a22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4117/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.8_2.0_0.0_MultiDynamics_arc_19_0.176_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efe6eb6227ab47538b2916f9dc49af41570283d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4118/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3248cad08a155661e92b45f12a03d09cb8e40e17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4119/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-0.8_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_412/meta.json b/RH5_dataset_threads_5000eps/frames/episode_412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b3fe3ccdba3775d8736b1c30a9e6a19cde94ef8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_412/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.536,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.6_0.0_0.0_MultiDynamics_5_0.536_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53ea753b4e6a208d3e7e2e68a31a00ed9c21634
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4120/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-0.9_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dba6cfe46259c953b355747579fe639dbba4946
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4121/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.0_0.0_MultiDynamics_arc_9_0.383_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2878165fbf3e6d424a7848a94c5597bb3ae19ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4122/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.1_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44637fb4f70865072d92934fbad9a12edb2b7db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4123/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.2_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d04900105bab0176ca68f0973676767fabfbff6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4124/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.3_0.0_MultiDynamics_arc_12_0.287_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc41dd6b8f929560c3e3996970de866ae51bfe52
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4125/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.4_0.0_MultiDynamics_arc_13_0.265_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb749b3efc79ddd4ac56a7985e3defa620780ade
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4126/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.5_0.0_MultiDynamics_arc_14_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b79f45d8a5d187273c2e6db1fefee5ac09c7ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4127/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.6_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cb1c7d1428152b81826ecf530a673be6ffbd4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4128/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.7_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e192e6fa5a6fb11bbca94c09f774191149fe9a28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4129/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.8_0.0_MultiDynamics_arc_17_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_413/meta.json b/RH5_dataset_threads_5000eps/frames/episode_413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde629117a5d64ba96362d298915f49a13202c48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_413/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.062",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.556,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.7_0.0_0.0_MultiDynamics_5_0.556_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02af64551f30afcc9d6c51e65435268803e37d93
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4130/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-1.9_0.0_MultiDynamics_arc_18_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70e4ad0e6e88623c681bc4c06065c71c6ef85e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4131/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (3.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3919457f4a54219de5c76e74f21ce32dadcf3399
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4132/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_-2.0_0.0_MultiDynamics_arc_19_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf30960172b2a153b1d9520370dd588f1a7a56b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4133/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (3.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..636c77a952861dea66fe17ebd5b4edf11f3ad08f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4134/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_0.8_0.0_MultiDynamics_arc_8_0.431_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..679472efe6cb279bfe4b5d120d18aad6e264e66f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4135/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (3.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_0.9_0.0_MultiDynamics_arc_8_0.431_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0cf76f41e26217416a83720c5c4914bf18307f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4136/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (3.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.0_0.0_MultiDynamics_arc_9_0.383_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd8af5b5fae17641ed1075fb37af9a6027f7ea3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4137/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.1_0.0_MultiDynamics_arc_11_0.314_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86ea08661dc697d1c92f9479173c8dfff2e4960f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4138/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (3.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.2_0.0_MultiDynamics_arc_11_0.314_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27fe69fa47882d2437e38a8373e0cf993358cd4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4139/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (3.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.3_0.0_MultiDynamics_arc_12_0.287_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_414/meta.json b/RH5_dataset_threads_5000eps/frames/episode_414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cf5f2584876b445c16de582faa825ecf88bbab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_414/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.062",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.576,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.8_0.0_0.0_MultiDynamics_5_0.576_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a94044c2a9a53d5cdc5f684a7b54538244285c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4140/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (3.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.4_0.0_MultiDynamics_arc_13_0.265_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5958c509b57eb4b06ac4148c1c32bb83cace44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4141/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (3.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.5_0.0_MultiDynamics_arc_14_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3e664729168d3a322ef586ac2d0986e3a117f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4142/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.6_0.0_MultiDynamics_arc_16_0.216_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..619de26e0934d13d7d808819d9a119e2e3d66219
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4143/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (3.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.7_0.0_MultiDynamics_arc_16_0.216_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92512cca56b6ba130a5319be31acd11ce83f1c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4144/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (3.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.8_0.0_MultiDynamics_arc_17_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ddb236534c62de13dcdfb29aaacc86c2de2b59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4145/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (3.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_1.9_0.0_MultiDynamics_arc_18_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..287c1c261f013ccb2ed77b05743e49b35ba0fed3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4146/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (4.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68159ef5aa8dbc641f15d80ac0e36a0d9faf8d82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4147/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (3.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_3.9_2.0_0.0_MultiDynamics_arc_19_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5646f435565692dae6e1e2854fa2703c5a61ce8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4148/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (4.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b8b8659551296f83591825c3816b65800561c2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4149/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (4.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-0.8_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_415/meta.json b/RH5_dataset_threads_5000eps/frames/episode_415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b644b8c56fc90aafc301a4bb26766ce87ba90497
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_415/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.062",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.596,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_2.9_0.0_0.0_MultiDynamics_5_0.596_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..400e559ef3acfa84f1100840f3021bc3610da42a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4150/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (4.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-0.9_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d5d7d60538fc01230fb9947ff167aeddb408fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4151/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (4.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.0_0.0_MultiDynamics_arc_9_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d56359ae8733cdb7f4ce3e9f3c2459a18d7d63f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4152/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (4.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.1_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01f30da6cfbb227f8b0707144129ad90c7d920e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4153/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (4.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.2_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab281a94627f4e60311ef52ddb5e7ad35cfcc8f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4154/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (4.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.3_0.0_MultiDynamics_arc_12_0.296_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3347d19814f5103efb93af9a464075a9f066ffe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4155/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (4.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.4_0.0_MultiDynamics_arc_13_0.273_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d265a0faf7009fe2b33af6efa38ea1b3a4a1890a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4156/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (4.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.5_0.0_MultiDynamics_arc_14_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9ed4e64223e03312ad4394c29a3fc6df9705ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4157/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (4.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.6_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b168d88e598ada5042ea2fe36a8d1c548cc2838
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4158/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (4.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.7_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..014659b2a56d11185963e43217a38ac4b5dbc220
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4159/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (4.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.8_0.0_MultiDynamics_arc_17_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_416/meta.json b/RH5_dataset_threads_5000eps/frames/episode_416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7556f3a580ff8ee52e9a7976303a3e61bfdbdd6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_416/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.062",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.616,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.0_0.0_0.0_MultiDynamics_5_0.616_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e82ebd257161124fb4f20eaa493970d365b746e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4160/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (4.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-1.9_0.0_MultiDynamics_arc_18_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0b283ded92e6cdc8516cf86cf23096c470b654
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4161/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the red box at <DIST> (4.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec71a93af9671067769bd5e06940b16cb739dc8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4162/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (4.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_-2.0_0.0_MultiDynamics_arc_19_0.187_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8cd743831dc03928bf29822757769604a7d611b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4163/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the red box at <DIST> (4.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db841b683821166df04a35403c96787fa7e5197e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4164/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (4.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_0.8_0.0_MultiDynamics_arc_8_0.444_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..865b1d0918254f60cefe87dc8eed215567b82834
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4165/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the red box at <DIST> (4.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_0.9_0.0_MultiDynamics_arc_8_0.444_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31beb389208d5cf28992240462693c80e515aa8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4166/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the red box at <DIST> (4.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.0_0.0_MultiDynamics_arc_9_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a83a946b9b55f8e690f4fd5f5fbce7683f99e78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4167/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (4.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.1_0.0_MultiDynamics_arc_11_0.323_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11041747a4444e51b9aa10994c2b06e296d03df3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4168/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the red box at <DIST> (4.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.2_0.0_MultiDynamics_arc_11_0.323_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d1fce1ea974cc33ae3e184e1818c454adb3415
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4169/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the red box at <DIST> (4.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.3_0.0_MultiDynamics_arc_12_0.296_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_417/meta.json b/RH5_dataset_threads_5000eps/frames/episode_417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..792ef3e0eca8509edc11aad0cc7f60c5c605d33e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_417/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.53,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.1_0.0_0.0_MultiDynamics_6_0.530_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ca703dfe7c26cab4ded753cd38b6f8a6e5ff7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4170/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the red box at <DIST> (4.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.4_0.0_MultiDynamics_arc_13_0.273_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7692f8386084d4b27b04d38bb9a6dd62e0a9e738
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4171/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the red box at <DIST> (4.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.5_0.0_MultiDynamics_arc_14_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c263bafcdd8db80b4960bafd3f0366506647697
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4172/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (4.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.6_0.0_MultiDynamics_arc_16_0.222_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a7f998a99578f5572aff22a3ce138e006e4b0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4173/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the red box at <DIST> (4.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.7_0.0_MultiDynamics_arc_16_0.222_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afbf8da48711ac5f487e0aabff89910fc34144f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4174/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the red box at <DIST> (4.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.8_0.0_MultiDynamics_arc_17_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a78c4b1160572ee43434f7696d3e0e457b138361
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4175/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the red box at <DIST> (4.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_1.9_0.0_MultiDynamics_arc_18_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0456b79c7b025916d36887e277c2f5abb26242
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4176/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-0.6_0.0_MultiDynamics_arc_5_0.110_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de74495e72451e06123aeb0119b80a2e48ffb278
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4177/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the red box at <DIST> (4.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/red_4.0_2.0_0.0_MultiDynamics_arc_19_0.187_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..078cae51300e09645d161ee37c8f1c6efd926e12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4178/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-0.7_0.0_MultiDynamics_arc_6_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb96a09627beebfe6b3bda53ddc75fee5fb370a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4179/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-0.8_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_418/meta.json b/RH5_dataset_threads_5000eps/frames/episode_418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..561fcc695505d4d2d2a8c4dd9fef907068e35c9b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_418/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.062",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.547,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.2_0.0_0.0_MultiDynamics_6_0.547_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffac261145b3f43ac0bf85fccd33ff791be9a621
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4180/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-0.9_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a447c5823c3b211cadeeefe5ff0f5d512a970d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4181/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.0_0.0_MultiDynamics_arc_9_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7983d17117cf8a1b13b219a3f53b2e9e1261bca3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4182/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.1_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce40dbc31f1df92ae207385d2b988ee46ddb71c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4183/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.2_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1f4a5e3e63c5cd1bc1e5be07b679362e6ce05c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4184/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.3_0.0_MultiDynamics_arc_12_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82ef6294d0c4b7bc2e84f29d2a4c66e6edb90ac4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4185/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.4_0.0_MultiDynamics_arc_13_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f0f8fcfe0529ff6c187efe0b31973a78317e2cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4186/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.5_0.0_MultiDynamics_arc_14_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..134f6c92532a16f24153f87dbea98ce417846d2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4187/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.6_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c82f88c7a6b86f2be9745fcd3bfb57c907e457d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4188/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.7_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4e46896b250d0fd7ecf0d8129b64a9e2f27424
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4189/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.8_0.0_MultiDynamics_arc_17_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_419/meta.json b/RH5_dataset_threads_5000eps/frames/episode_419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8345030ec295d289d9ec4b813b25076e7f7b1e7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_419/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.062",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.563,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.3_0.0_0.0_MultiDynamics_6_0.563_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0661a3b77a92fa788d467a5b325a5809aa796ab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4190/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-1.9_0.0_MultiDynamics_arc_18_0.031_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..054b6f5dfdee1014125dd9e68e5798a9ac9b0a63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4191/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_0.7_0.0_MultiDynamics_arc_6_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6b61a066fcbd250887906906af4f164625ad5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4192/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_-2.0_0.0_MultiDynamics_arc_19_0.029_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22be80992024306d543bd9b3c62fd60614f976f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4193/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_0.8_0.0_MultiDynamics_arc_8_0.069_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4077064a7286985bb56cab34d527b582dcbc2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4194/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_0.9_0.0_MultiDynamics_arc_8_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f1847d29f8ab8c8f2ad3c8d4ec6813893575b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4195/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.0_0.0_MultiDynamics_arc_9_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7783c119b82ad699b65d4c079a038f54d2b2c9da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4196/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.1_0.0_MultiDynamics_arc_11_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc632a375e7403ac56f6068de8b4a1d298ec066
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4197/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.2_0.0_MultiDynamics_arc_11_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e7965a945746e2d6027e53c760d97a3184c93a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4198/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.3_0.0_MultiDynamics_arc_12_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d129918a22c365900454a4a5725ad98a74b2f47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4199/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.4_0.0_MultiDynamics_arc_13_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_42/meta.json b/RH5_dataset_threads_5000eps/frames/episode_42/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8691aadf0f7612a7e6376e9fda253d8e63a3e409
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_42/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.062,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.3_0.0_0.0_MultiDynamics_3_0.577_0.062_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_420/meta.json b/RH5_dataset_threads_5000eps/frames/episode_420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e61f26fc86244d7ff18377283798a55e6741d135
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_420/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.4_0.0_0.0_MultiDynamics_6_0.580_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcd559620354ce77f7fda6d39ac4e2e9c464e1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4200/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.5_0.0_MultiDynamics_arc_14_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..552f3b38588436ad0158e42e2eee07ea3a3caba2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4201/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.6_0.0_MultiDynamics_arc_16_0.034_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc223b703bbd643a60dc7cf07bd2cedd6d3e623c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4202/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.7_0.0_MultiDynamics_arc_16_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32bd0dd8407f3d7834fa9956eb519642eb96f2d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4203/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.8_0.0_MultiDynamics_arc_17_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a49528f34b51fffe890052e3162037593db3a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4204/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_1.9_0.0_MultiDynamics_arc_18_0.031_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..258c47238c41c63cd72e48b8aaa7221d81030f86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4205/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-0.6_0.0_MultiDynamics_arc_5_0.130_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec7a0569fa43dffde50d9edb8e114d504ea9b35
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4206/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.0_2.0_0.0_MultiDynamics_arc_19_0.029_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f594235be517b84e6149ba82d4246ef7e42fd700
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4207/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-0.7_0.0_MultiDynamics_arc_6_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8710c99c2943612f1e4e5caedb5184042c2dbe56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4208/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-0.8_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20313884bcea7dbaab03fcc074bb4a16a815f608
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4209/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-0.9_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_421/meta.json b/RH5_dataset_threads_5000eps/frames/episode_421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..557769d53ad84ff40570a596422a8a972f97bdb0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_421/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.062",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.597,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.5_0.0_0.0_MultiDynamics_6_0.597_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6699b97ef82d7726e25e95bf3bc14ba29d714b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4210/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.0_0.0_MultiDynamics_arc_9_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda76ebdc430eb0989e16c5fc704ed9bda807128
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4211/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.1_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..719470bd571f7262bb0c87a43a1d119e115f4386
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4212/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.2_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d090f73f74c3ad517a03293d25a48913f7402b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4213/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.3_0.0_MultiDynamics_arc_12_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61690e9f357e5d6ff53379e5efa0e66469609968
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4214/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.4_0.0_MultiDynamics_arc_13_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1865b55c58229ad01dea0e09da980801aa2524ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4215/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.5_0.0_MultiDynamics_arc_14_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5ccd4193e2316f148e1e7a53f41f6b0d111958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4216/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.6_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5f12f2ca77b587cad05acac18ccd18516381ce3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4217/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.7_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1243c668b830eaeb429e5c6f84566bd8bda0d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4218/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.8_0.0_MultiDynamics_arc_17_0.038_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..360dc1acedbdce8ecc99f14dff9624bdcddf7cd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4219/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-1.9_0.0_MultiDynamics_arc_18_0.036_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_422/meta.json b/RH5_dataset_threads_5000eps/frames/episode_422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6168af15e6e155b40e1bdfd2d786c2bded93848
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_422/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.062",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.613,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.6_0.0_0.0_MultiDynamics_6_0.613_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e16af5a04b64a895915fef0fba7d648d1fdfc7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4220/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_0.6_0.0_MultiDynamics_arc_5_0.130_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07df892aa948b0cc037047a16bcca547dc4e076
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4221/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_-2.0_0.0_MultiDynamics_arc_19_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee1cd4fd3063fc5b2f63d79a2fb0a5e2d3e2f7bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4222/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_0.7_0.0_MultiDynamics_arc_6_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d9f6a65771741eeec3d5d8a89e6dfd0c33dac0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4223/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_0.8_0.0_MultiDynamics_arc_8_0.081_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9df650c48fdd15266413a192575468fb98145e51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4224/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_0.9_0.0_MultiDynamics_arc_8_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..766e7bb916105c789ee87710ad7333cd8ba1edd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4225/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.0_0.0_MultiDynamics_arc_9_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f111db7bc1d2276646d06855f4d211b81063baf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4226/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.1_0.0_MultiDynamics_arc_11_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e8301ca9ae738c7f769e65b8dd089ab30daa072
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4227/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.2_0.0_MultiDynamics_arc_11_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a4a49f6a17808155df91f11185c40e7eb8bbe6c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4228/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.3_0.0_MultiDynamics_arc_12_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..166e6b038acb1b34b78e0a64a79367321b5a4fbd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4229/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.4_0.0_MultiDynamics_arc_13_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_423/meta.json b/RH5_dataset_threads_5000eps/frames/episode_423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7403ee8b046cf4af99fc08bb84e7f781a4d01400
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_423/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.062",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.63,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.7_0.0_0.0_MultiDynamics_6_0.630_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8cc20d965d7a3c46a07cfbd337a6a1f691cca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4230/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.5_0.0_MultiDynamics_arc_14_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0003c9458b77ce2df3eb1209a9e2a659cb267c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4231/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.6_0.0_MultiDynamics_arc_16_0.041_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da266ea5c2f7e3369e049b15dfbf53f32175d08d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4232/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.7_0.0_MultiDynamics_arc_16_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9196b3ee3884eda19ca9e2c741b578bd05fdbd0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4233/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.8_0.0_MultiDynamics_arc_17_0.038_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d9a028a92760e413ba379c4513d1a1fe861a6ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4234/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_1.9_0.0_MultiDynamics_arc_18_0.036_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08ea1c6682d3380edc03c260832412896942a56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4235/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.1_2.0_0.0_MultiDynamics_arc_19_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1646bae16374843ffe84df5726840fff85cd1e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4236/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-0.6_0.0_MultiDynamics_arc_5_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9660cf793129e49f12366d5d0dbaeff55f6c9003
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4237/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-0.7_0.0_MultiDynamics_arc_6_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e839917f42772d65009f43322f5396f8c1fca6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4238/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-0.8_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3c94d03e035d5d091e96b05619d04394b97f76
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4239/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-0.9_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_424/meta.json b/RH5_dataset_threads_5000eps/frames/episode_424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c450ab027a21eeea7ef0219c511f3869030143
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_424/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.062",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.554,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.8_0.0_0.0_MultiDynamics_7_0.554_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b270f175a156e69537db2bf9e307c3f7a73372
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4240/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.0_0.0_MultiDynamics_arc_9_0.083_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14e36e77a508da92d17e71946e2185be25b7d0c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4241/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.1_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..403738485691e49e482933e5326c4010edbe0810
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4242/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.2_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e0944b95ab2a6cde762dd6a707f0623cb17b3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4243/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.3_0.0_MultiDynamics_arc_12_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..055859149653b0bac7cff1492630e9c5e4ab4903
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4244/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.4_0.0_MultiDynamics_arc_13_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f655dbe524bf69254a7bfc5e09fd0d8ed1356e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4245/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.5_0.0_MultiDynamics_arc_14_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4246/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4246/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b679092ea5fb339ba633ff8b626ed94fb3e1ff16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4246/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.6_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4247/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4247/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceedbd8bee5c269ab63ac624e1e614b6a2d436cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4247/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.7_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4248/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4248/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84218a9f8b13be9b7f6511c88af804d235cfad1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4248/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.8_0.0_MultiDynamics_arc_17_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4249/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4249/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf8b07589ad8d72a873f2f61fbf7ec75931271e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4249/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-1.9_0.0_MultiDynamics_arc_18_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_425/meta.json b/RH5_dataset_threads_5000eps/frames/episode_425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..518f2e31c367e309d7bbb93bab9049d4b8d175c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_425/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.062",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.569,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_3.9_0.0_0.0_MultiDynamics_7_0.569_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4250/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4250/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36339a797f82b9558c17bb1f4f9316cf225830eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4250/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_0.6_0.0_MultiDynamics_arc_5_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4251/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4251/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c22435941b14a6f1ccf5b59f90fc4661e70eb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4251/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_-2.0_0.0_MultiDynamics_arc_19_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4252/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4252/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc2b7523def57ca48676e8cdcd2bfa7bec13e6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4252/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_0.7_0.0_MultiDynamics_arc_6_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4253/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4253/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae968c8e2903633726e726a2b9d01e29d1ff0c22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4253/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_0.8_0.0_MultiDynamics_arc_8_0.094_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4254/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4254/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9473b946dde6075b4c3250cc38893a2bbb8a98c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4254/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_0.9_0.0_MultiDynamics_arc_8_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4255/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4255/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..122c9eefe122dd940f115cc308c69f006b912518
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4255/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.0_0.0_MultiDynamics_arc_9_0.083_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4256/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4256/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4c7f5f19c831b9f7c50f45e48c0aad3e60429c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4256/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.1_0.0_MultiDynamics_arc_11_0.068_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4257/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4257/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..535bc52ef7b63964f7702a965d6dfe7cfb8ceb6c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4257/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.2_0.0_MultiDynamics_arc_11_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4258/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4258/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b57abb86b8359fb870f71fa305f123f2f9cb244
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4258/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.3_0.0_MultiDynamics_arc_12_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4259/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4259/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b24b471b4a976f92760b52efd7a489000cb9ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4259/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.4_0.0_MultiDynamics_arc_13_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_426/meta.json b/RH5_dataset_threads_5000eps/frames/episode_426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4050efe5b669b1952ab3f16465882edcf5b6b86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_426/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.062",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the red target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/red_4.0_0.0_0.0_MultiDynamics_7_0.583_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4260/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4260/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f98c01e1de739032ca9d9b2ed2aec6b4d309463
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4260/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.5_0.0_MultiDynamics_arc_14_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4261/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4261/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5befc64c8fbde77013e70cd72cbc572aa3df8fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4261/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.6_0.0_MultiDynamics_arc_16_0.047_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4262/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4262/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c765a6f1faa2585bf0b569af354c9967baf2837a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4262/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.7_0.0_MultiDynamics_arc_16_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4263/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2283a405322cf3c9926a241c05f7adfacc1a563f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4263/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.8_0.0_MultiDynamics_arc_17_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4264/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4264/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8edc93fc6ca2195bb883f0a18d33ce5f12cebb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4264/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_1.9_0.0_MultiDynamics_arc_18_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4265/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4265/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f264e71fa22caebecb52b71ee8ec88ff7cf7db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4265/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-0.6_0.0_MultiDynamics_arc_5_0.170_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4266/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4266/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc21233e5897604a23acb9ea5cc9468a009aa85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4266/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.2_2.0_0.0_MultiDynamics_arc_19_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4267/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4267/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..938ef4b798e07b10c40023dfc4a4458e59bc32ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4267/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-0.7_0.0_MultiDynamics_arc_6_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4268/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4268/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97103dd05a869f8950fe7695da4f0035ab5fef70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4268/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-0.8_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4269/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275fc92369af4910d380f36eee331431dc7acb56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4269/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-0.9_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_427/meta.json b/RH5_dataset_threads_5000eps/frames/episode_427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd90180089758febae591a5ae37d1e850cddd54c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_427/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.590:0.062",
+  "object": "target",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.59,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 2,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.1_0.0_0.0_MultiDynamics_2_0.590_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4270/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4270/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7083a7afff15f2e48d8f07a95b4b500672880e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4270/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.0_0.0_MultiDynamics_arc_9_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4271/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4271/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d49a136b599eba2c918cc120143a583ae8794c15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4271/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.1_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4272/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4272/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..496138dcd13e6b79e4e39ef9d281f01094ec225e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4272/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.2_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4273/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4273/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..925e72e741efe4b7e30385836387e11f67f71db1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4273/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.3_0.0_MultiDynamics_arc_12_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4274/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4274/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..900cb0aeb47ddcf133f4cb918db24afdbb0fea71
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4274/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.4_0.0_MultiDynamics_arc_13_0.065_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4275/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4275/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a950ddb200a04dfb31650c1def79b07a1fbfaf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4275/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.5_0.0_MultiDynamics_arc_14_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4276/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4276/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd776582e431cd9483ca125dab99e19950ede527
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4276/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.6_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4277/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4277/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfde0cf5b42a3daf5665f57cc16907e597925cd8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4277/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.7_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4278/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4278/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5db7213f5d19377f279757232c100526df9c2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4278/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.8_0.0_MultiDynamics_arc_17_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4279/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4279/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8a69d913a9fea81769efcc222fa27fa404fbe6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4279/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-1.9_0.0_MultiDynamics_arc_18_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_428/meta.json b/RH5_dataset_threads_5000eps/frames/episode_428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e980b76043f0f2d7c507bee3db9fa454c2d3ca2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_428/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.427:0.062",
+  "object": "target",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.427,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.2_0.0_0.0_MultiDynamics_3_0.427_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4280/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4280/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21fbac9bf886e98dac12be8be2e932e66a0c53e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4280/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_0.6_0.0_MultiDynamics_arc_5_0.170_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4281/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4281/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe7ac01e16741b02eadb8cef99b395997f9d101e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4281/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_-2.0_0.0_MultiDynamics_arc_19_0.045_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4282/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4282/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d863f619cc0c3610f225cee8e367f9d4f6b1bc1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4282/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_0.7_0.0_MultiDynamics_arc_6_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4283/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4283/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9269a0632dbea5022dc144c166592b2e6ab2204e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4283/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_0.8_0.0_MultiDynamics_arc_8_0.106_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4284/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4284/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b8a55d01b745382b6ed8919e09650b946d2c1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4284/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_0.9_0.0_MultiDynamics_arc_8_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4285/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4285/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3235306200ac31d2a3e8a6595f71a2ff640b8ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4285/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.0_0.0_MultiDynamics_arc_9_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4286/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4286/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..481c0c812ab8c3d6898b593b35128495eaf1738b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4286/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.1_0.0_MultiDynamics_arc_11_0.077_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4287/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4287/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cbb274ce133af60ba500a534277ab726800bd4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4287/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.2_0.0_MultiDynamics_arc_11_0.077_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4288/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4288/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..634890b5e4d8d881e2ff4e82e0c1d58a70c5e79f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4288/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.3_0.0_MultiDynamics_arc_12_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4289/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4289/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ba37b075770e85928654b636214c457ebb25df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4289/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.4_0.0_MultiDynamics_arc_13_0.065_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_429/meta.json b/RH5_dataset_threads_5000eps/frames/episode_429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e346a312b5697baeff5069c1cd1fac36262890
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_429/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062",
+  "object": "target",
+  "object_position": [
+    1.35,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.477,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.35 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.477_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4290/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4290/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2b520eb2d380375eacde629ced5226ea0d7529
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4290/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.5_0.0_MultiDynamics_arc_14_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4291/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4291/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ef669088f9f9829aceb51aa07b909d2e717ea3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4291/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.6_0.0_MultiDynamics_arc_16_0.053_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4292/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4292/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64fe40d5cee555baff2bea2a9b373189d0949d68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4292/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.7_0.0_MultiDynamics_arc_16_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4293/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4293/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c19db73d8add39acf34a207865b7dc4b7a1ee38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4293/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.8_0.0_MultiDynamics_arc_17_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4294/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4294/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c687d3f50ebed28bd0696f52f5ef3af359291e07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4294/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_1.9_0.0_MultiDynamics_arc_18_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4295/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4295/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f4fb30b4612a3c5a90400b956c92725d9c842e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4295/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.3_2.0_0.0_MultiDynamics_arc_19_0.045_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4296/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4296/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab335b5f88dda93d07c4b30123bb6964b48204f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4296/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-0.6_0.0_MultiDynamics_arc_5_0.190_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4297/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab08db7de2ba96901463796a6e8a8ae657f4b87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4297/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-0.7_0.0_MultiDynamics_arc_6_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4298/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4298/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c9927da83de99bc3834b9a5363327a19ce93f48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4298/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-0.8_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4299/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4299/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11392f1f9a1f4a4aa809f6c6c678bc991d936f50
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4299/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-0.9_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_43/meta.json b/RH5_dataset_threads_5000eps/frames/episode_43/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed49f49fee272055f93d3f7a664c52ab9bde537d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_43/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.4_0.0_0.0_MultiDynamics_3_0.630_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_430/meta.json b/RH5_dataset_threads_5000eps/frames/episode_430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20821dc6d5ffe0167e12465d1f6644135470bd5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_430/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.493:0.062",
+  "object": "target",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.493,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.4_0.0_0.0_MultiDynamics_3_0.493_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4300/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4300/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdb88180dd642c0d5152ec0a611fdcbde3e55a09
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4300/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.0_0.0_MultiDynamics_arc_9_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4301/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4301/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d185e72eebc687e9f763226a28fbc4fa16a9c60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4301/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.1_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4302/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4302/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38932f1883787809bc12660a848062529175913
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4302/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.2_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4303/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da2f364346483cf571c90a0845d6001ea382e090
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4303/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.3_0.0_MultiDynamics_arc_12_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4304/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4304/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c8a6fbc87189660ad8b9dc9df6f157db5a1dbcf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4304/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.4_0.0_MultiDynamics_arc_13_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4305/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4305/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2ea4e947dd66bfd873ae0534a71e23d70ec025
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4305/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.5_0.0_MultiDynamics_arc_14_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4306/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4306/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e851334fa55313dbb487f1c175a8dadd3583334
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4306/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.6_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4307/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4307/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79df1c937a050d8d55eda564b1ad8d86ce96fb05
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4307/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.7_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4308/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4308/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9364126ad26db129f21bf300612cc9d29d518ee6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4308/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.8_0.0_MultiDynamics_arc_17_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4309/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4309/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2dc09c69d3417b944f3d747cf577765a1f94ccb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4309/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-1.9_0.0_MultiDynamics_arc_18_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_431/meta.json b/RH5_dataset_threads_5000eps/frames/episode_431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db7200f1af5063349d13b99b47e0296481bc504
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_431/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.527:0.062",
+  "object": "target",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.527,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.5_0.0_0.0_MultiDynamics_3_0.527_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4310/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4310/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20ba50ac4a0fdd9b64fda6ec914043ad147659d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4310/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_0.6_0.0_MultiDynamics_arc_5_0.190_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4311/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4311/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e855fa9ea5d2f83c99872b954184ef873be0f4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4311/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_-2.0_0.0_MultiDynamics_arc_19_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4312/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4312/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e531bf933b342d2264f3bed20dc407f118fb3f30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4312/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_0.7_0.0_MultiDynamics_arc_6_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4313/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4313/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d5dbde36f7d99d673fdf4b7219763577b3afbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4313/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_0.8_0.0_MultiDynamics_arc_8_0.119_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4314/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4314/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a23e3e7e0609bf50e50230d45971239bd3f76424
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4314/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_0.9_0.0_MultiDynamics_arc_8_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4315/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4315/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..135a2d6decbdfcb63b922e32277eb1964d0a5fda
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4315/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.0_0.0_MultiDynamics_arc_9_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4316/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4316/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9068bd8eec45965ca8a2f511ad1b7a6ee2f5ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4316/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.1_0.0_MultiDynamics_arc_11_0.086_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4317/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4317/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..164bbfbdf81fd7a5012b742790d588dd5ee189f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4317/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.2_0.0_MultiDynamics_arc_11_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4318/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb2e52d076457e621c527edae650defe133351a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4318/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.3_0.0_MultiDynamics_arc_12_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4319/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa581a3e71be2e54b760111ebc1848210896e266
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4319/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.4_0.0_MultiDynamics_arc_13_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_432/meta.json b/RH5_dataset_threads_5000eps/frames/episode_432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8cb12a0a1b49bfe5bca95e04632d7f5dbe3081e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_432/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.560:0.062",
+  "object": "target",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.56,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.6_0.0_0.0_MultiDynamics_3_0.560_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4320/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4320/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f2a7b8d53a3d2aad3248f34e6ef0951441aea4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4320/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.5_0.0_MultiDynamics_arc_14_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4321/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4321/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..525a581ed712607dc0ed06a4665732c920da36e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4321/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.6_0.0_MultiDynamics_arc_16_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4322/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4322/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ade7fb6dc4ce588a570121a6ffba35d498520a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4322/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.7_0.0_MultiDynamics_arc_16_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4323/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4323/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6389b0b32742e607dad884695369a5ec2cb28209
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4323/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.8_0.0_MultiDynamics_arc_17_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4324/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4324/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b561e481f7f14d54b1e95f5c11cc1d8304fc0e96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4324/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_1.9_0.0_MultiDynamics_arc_18_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4325/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4325/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff674e5af74586575f28b08960965482ff9ed8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4325/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-0.6_0.0_MultiDynamics_arc_5_0.210_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4326/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4326/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7a4f1b7a0f8e622e61f163ce687867342c20b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4326/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.4_2.0_0.0_MultiDynamics_arc_19_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4327/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4327/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..840c0cc3b178bdacf3a76ebb67e8aa77892b4554
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4327/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-0.7_0.0_MultiDynamics_arc_6_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4328/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4328/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..549d9ae25ecebd787340d751cff677accddc4025
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4328/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-0.8_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4329/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4329/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..604861b88247390571b951b3dcac1381bbc05990
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4329/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-0.9_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_433/meta.json b/RH5_dataset_threads_5000eps/frames/episode_433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce50413d627e6c8b70483e88ba574666d526d083
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_433/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.593:0.062",
+  "object": "target",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.593,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.7_0.0_0.0_MultiDynamics_3_0.593_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4330/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4330/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b548906a23c9dc8299edbda1e6dada130f8947
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4330/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.0_0.0_MultiDynamics_arc_9_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4331/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4331/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e06bf96ca7a6b261366ea6447afaa58c1c0b0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4331/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.1_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4332/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4332/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a874d70b298d52160475935ec2f1852407bf3040
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4332/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.2_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4333/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7016ae1931240fef8f9f7dbd15fda6983b63cccd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4333/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.3_0.0_MultiDynamics_arc_12_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4334/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4334/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e729f5fa72cd41f709edae19c6dee2f73db33b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4334/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.4_0.0_MultiDynamics_arc_13_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4335/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4335/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abd707d2b0cdc2aeb03397b1be13f871639d4d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4335/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.5_0.0_MultiDynamics_arc_14_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4336/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dcaea54058f3758964cedf6e747f7ea26c1bfd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4336/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.6_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4337/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4337/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a2eccbb0b6cf3ae582efd279c4823e5f89ebd0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4337/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.7_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4338/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4338/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd168f325d0e35ef2db9a1f755f7dfc4eb773ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4338/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.8_0.0_MultiDynamics_arc_17_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4339/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4339/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0792f90dd98ff422f1bf73b43d3d423d41b2776
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4339/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-1.9_0.0_MultiDynamics_arc_18_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_434/meta.json b/RH5_dataset_threads_5000eps/frames/episode_434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c25984b10c8bddb9a489ded7237de2267a7f4f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_434/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.627:0.062",
+  "object": "target",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.627,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 3,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.8_0.0_0.0_MultiDynamics_3_0.627_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4340/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4340/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af6a40d88a4e95eeeb316b500086362ff552816
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4340/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_0.6_0.0_MultiDynamics_arc_5_0.210_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4341/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4341/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f26f6107234ce719dba87868df7ebb59cc7c03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4341/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_-2.0_0.0_MultiDynamics_arc_19_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4342/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4342/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e5f63dfa955b4fba89fea1089a838360db85f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4342/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_0.7_0.0_MultiDynamics_arc_6_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4343/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4343/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b811f8dd6126bba3fe454699f8a69369fda769b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4343/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_0.8_0.0_MultiDynamics_arc_8_0.131_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4344/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4344/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b929d7712838ed3dc65de207d1cb383d50add460
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4344/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_0.9_0.0_MultiDynamics_arc_8_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4345/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4345/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b78460958f93704e2e81d8be19f7c6383e04780
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4345/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.0_0.0_MultiDynamics_arc_9_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4346/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4346/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..915e9ac4b2c5d6f098a1ff399c5261d665fec3ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4346/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.1_0.0_MultiDynamics_arc_11_0.095_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4347/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4347/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e239a436da56c4daa9c639e3aebf0a8b609f2f88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4347/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.2_0.0_MultiDynamics_arc_11_0.095_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4348/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4348/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e70b1093c83fd8b6c242762b330be037708387c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4348/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.3_0.0_MultiDynamics_arc_12_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4349/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4349/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d12071dfb002c5610fe7735c0befd3829a20fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4349/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.4_0.0_MultiDynamics_arc_13_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_435/meta.json b/RH5_dataset_threads_5000eps/frames/episode_435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e091ed91ca83385d6b41197524cc95bebfc103
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_435/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.495:0.062",
+  "object": "target",
+  "object_position": [
+    1.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.495,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 1.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_1.9_0.0_0.0_MultiDynamics_4_0.495_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4350/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4350/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dc5b8a319069c87459429bc9da5f07419fb2abf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4350/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.5_0.0_MultiDynamics_arc_14_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4351/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4351/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..540cb802709c4723c10e652fa2e8ed61d41ddcdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4351/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.6_0.0_MultiDynamics_arc_16_0.066_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4352/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4352/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dde84fbac150bddf8ccc7a50cc25c65da9d4acc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4352/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.7_0.0_MultiDynamics_arc_16_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4353/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4353/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03fff116290b118943f02894bfb274ad77968244
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4353/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.8_0.0_MultiDynamics_arc_17_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4354/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4354/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26dce0924f32262c0cf96d48f9a0172e72ed4398
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4354/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_1.9_0.0_MultiDynamics_arc_18_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4355/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4355/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d37277758fd85abe384230bb841ec5dcd54153
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4355/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-0.6_0.0_MultiDynamics_arc_5_0.230_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4356/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4356/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8eaa099fc4686b57e857ef4c84470c86ea30f31
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4356/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.5_2.0_0.0_MultiDynamics_arc_19_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4357/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4357/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6358a98f026af9d91cbe18fbc2bca96fe1fb56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4357/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-0.7_0.0_MultiDynamics_arc_6_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4358/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4358/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..025008b7d755715c8aec5b963caa179ae3aa13ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4358/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-0.8_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4359/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4359/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..297bbc93eadd96d2df80d8d07a466abfbf20f5f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4359/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-0.9_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_436/meta.json b/RH5_dataset_threads_5000eps/frames/episode_436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..817719514cca3dd08a078dfd62da2c385b35e04c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_436/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.520:0.062",
+  "object": "target",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.52,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.0_0.0_0.0_MultiDynamics_4_0.520_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4360/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4360/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d753638f89aebea17c1374945d1044fbf3e05a74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4360/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.0_0.0_MultiDynamics_arc_9_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4361/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4361/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e44295a59939b90c51309aea2f550c706afaa92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4361/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.1_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4362/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4362/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a3363f1d4a6291836a22761b2cf23f03c1d1e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4362/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.2_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4363/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4363/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c29abb813e80f768500d1f2caffeb79d0472f2bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4363/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.3_0.0_MultiDynamics_arc_12_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4364/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4364/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7846cf32e9f7f5deacebb11204316b390f2ae5cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4364/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.4_0.0_MultiDynamics_arc_13_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4365/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4365/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26b2e8cf5d1797e1045e49995416bb022da16fd7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4365/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.5_0.0_MultiDynamics_arc_14_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4366/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4366/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c78423c6d27ee7df1c150914505b3029596ed1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4366/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.6_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4367/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4367/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d4ef52bf1c3df79cea0485634f4708a0515719
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4367/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.7_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4368/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4368/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93855f379f70e5c10d2c01940645a643b1b55e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4368/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.8_0.0_MultiDynamics_arc_17_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4369/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4369/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af9e63e4bfd21cd5dcaa6c1e0fc23afdb77960a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4369/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-1.9_0.0_MultiDynamics_arc_18_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_437/meta.json b/RH5_dataset_threads_5000eps/frames/episode_437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cabb11075c656d42516b986cc694ebd5b00b756
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_437/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.545:0.062",
+  "object": "target",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.545,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.1_0.0_0.0_MultiDynamics_4_0.545_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4370/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4370/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79c1a96cfbc674c8635c973beee46410ab9ec642
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4370/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_0.6_0.0_MultiDynamics_arc_5_0.230_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4371/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4371/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4939e305cc5f36fac870570343b9cb9dab327c29
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4371/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_-2.0_0.0_MultiDynamics_arc_19_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4372/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbf6cfdeef7575e030c088f6f76fc8444e469de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4372/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_0.7_0.0_MultiDynamics_arc_6_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4373/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4373/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f897264332199c4bab6192039c3bbde231e296
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4373/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_0.8_0.0_MultiDynamics_arc_8_0.144_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4374/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4374/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1702475ba885e9f1e035c28d114813e258c7ed1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4374/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_0.9_0.0_MultiDynamics_arc_8_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4375/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4375/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2aa1e5154f592ca97f8d506e9b68dba13989e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4375/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.0_0.0_MultiDynamics_arc_9_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4376/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4376/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a88a8c2c82a01340b89d61461ca549746b5de5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4376/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.1_0.0_MultiDynamics_arc_11_0.105_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4377/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4377/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe313f97a1ffbbb7ddcd3d3ec1fc4616d3188dfe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4377/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.2_0.0_MultiDynamics_arc_11_0.105_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4378/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4378/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebc48c8af8854eeeeb4fc6b84a73a7e51268c93
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4378/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.3_0.0_MultiDynamics_arc_12_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4379/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57f55005ddd40647c6d2d4b5621e3d64399057ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4379/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.4_0.0_MultiDynamics_arc_13_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_438/meta.json b/RH5_dataset_threads_5000eps/frames/episode_438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..106b7f12f713640255b496013c1ac828a16d12e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_438/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.570:0.062",
+  "object": "target",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.57,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.2_0.0_0.0_MultiDynamics_4_0.570_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4380/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4380/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..853521906525af7f96bb4588c44636651a9ed3f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4380/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.5_0.0_MultiDynamics_arc_14_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4381/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4381/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c627ac383a2468ecdb32574e85850309827413ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4381/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.6_0.0_MultiDynamics_arc_16_0.072_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4382/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4382/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e96d35ae57ba6fbc0df6e46f341634d6a31be8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4382/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.7_0.0_MultiDynamics_arc_16_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4383/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4383/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ce72c54dd18cd85e1b70d90db0224fa936ce40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4383/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.8_0.0_MultiDynamics_arc_17_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4384/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4384/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e3ff1f6623cd895cc3be9141652741e3d989c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4384/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_1.9_0.0_MultiDynamics_arc_18_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4385/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4385/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..350853edb9001a0a65c656b6cc209b8396edb84e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4385/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-0.6_0.0_MultiDynamics_arc_5_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4386/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4386/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e6fe9d1de1f601a98a451166a0c7b9d79fffc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4386/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.6_2.0_0.0_MultiDynamics_arc_19_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4387/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4387/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..709a453eee6a1ae0bd55a773acf1562eee242476
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4387/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-0.7_0.0_MultiDynamics_arc_6_0.208_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4388/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4388/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb5c894304dd556068cc21c5562d870ca1ef7359
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4388/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-0.8_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4389/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4389/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b12a873919d5799aa78d468601d826260aba067
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4389/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-0.9_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_439/meta.json b/RH5_dataset_threads_5000eps/frames/episode_439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..842984380f929ef8e05bf42dcce62846e3fa7b4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_439/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.595:0.062",
+  "object": "target",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.595,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.3_0.0_0.0_MultiDynamics_4_0.595_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4390/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4390/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03deecd43aae7ee5b4afeb78664767affb49a38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4390/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.0_0.0_MultiDynamics_arc_9_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4391/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4391/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b96f476775ed680b78f63e3c5af291096cf6b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4391/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.1_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4392/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4392/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cedec0146bbf632f5b56c85063165ee70cbb50c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4392/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.2_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4393/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4393/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7114d683b5b42e7460df29c09032055c0d11038
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4393/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.3_0.0_MultiDynamics_arc_12_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4394/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4394/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e42cf4f8558ef019113f1ce29a213e84eb9251
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4394/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.4_0.0_MultiDynamics_arc_13_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4395/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4395/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fd1f836a43aa9bb8a66b36cffbbbb50838e827
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4395/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.5_0.0_MultiDynamics_arc_14_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4396/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4396/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ee82a563eb1314a7242471da87be0a210b0507
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4396/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.6_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4397/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4397/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0a23a0264201a8f0a9927e1da7e73e10ec2834
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4397/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.7_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4398/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4398/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29038273479f7703f0bb0397b80033100665960
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4398/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.8_0.0_MultiDynamics_arc_17_0.074_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4399/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4399/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec3c78f581852ad250e84a15446c0ed1b4c3e16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4399/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-1.9_0.0_MultiDynamics_arc_18_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_44/meta.json b/RH5_dataset_threads_5000eps/frames/episode_44/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..838d865d5d6f29fe83809f44d685534c63719c04
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_44/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.062,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.5_0.0_0.0_MultiDynamics_4_0.490_0.062_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_440/meta.json b/RH5_dataset_threads_5000eps/frames/episode_440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fc9802cba32ab120d5e9a0ddab63e5f8e559fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_440/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.620:0.062",
+  "object": "target",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.62,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 4,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.4_0.0_0.0_MultiDynamics_4_0.620_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4400/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4400/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61bab1df9dbf09a019a2de812ff86452007c37c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4400/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_0.6_0.0_MultiDynamics_arc_5_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4401/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4401/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4ccb3d52f28a10fda5f23590e7eeab11de9fe0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4401/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_-2.0_0.0_MultiDynamics_arc_19_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4402/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1cefac7a6e02fd49bbd253cd0f39dff9ac6226
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4402/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_0.7_0.0_MultiDynamics_arc_6_0.208_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4403/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4403/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f160d046e2dc59f5cdc0e0b7878f71ab230962d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4403/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_0.8_0.0_MultiDynamics_arc_8_0.156_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4404/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b2b05e2fdde370845564a90738fb917ee8b047
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4404/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_0.9_0.0_MultiDynamics_arc_8_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4405/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4405/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aecd9059e4687a5c2b59680ceb61796a8394220
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4405/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.0_0.0_MultiDynamics_arc_9_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4406/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4406/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd9d9953ad06a2d1e43ce0ab18a61f8ce2c25ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4406/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.1_0.0_MultiDynamics_arc_11_0.114_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4407/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4407/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3e19b0bdfa3079dcbceb473bf836599f052473
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4407/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.2_0.0_MultiDynamics_arc_11_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4408/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4408/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c01f42a15630889e91c94ec870899f3a63a122
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4408/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.3_0.0_MultiDynamics_arc_12_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4409/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4409/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..309c3b23eacbf2587a8a0eb1d1005d58c6f69562
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4409/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.4_0.0_MultiDynamics_arc_13_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_441/meta.json b/RH5_dataset_threads_5000eps/frames/episode_441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86ab57a60aa1a2b5f6cd96fc3d142f879868d64d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_441/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.516:0.062",
+  "object": "target",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.516,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.5_0.0_0.0_MultiDynamics_5_0.516_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4410/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4410/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c46edb5b601ab009d1e5db8f939a44810b6181
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4410/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.5_0.0_MultiDynamics_arc_14_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4411/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4411/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8237970ab9445de4ecedc8569a21d46f91c4b48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4411/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.6_0.0_MultiDynamics_arc_16_0.078_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4412/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4412/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b75c7e94c1a57f814f8a79ba0bba26e2a2b38df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4412/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.7_0.0_MultiDynamics_arc_16_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4413/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4413/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99cfe05322ea32d42b1023a39543517db39885ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4413/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.8_0.0_MultiDynamics_arc_17_0.074_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4414/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4414/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10645d0eebd1a8ea064f1383d0f5305e56c53347
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4414/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_1.9_0.0_MultiDynamics_arc_18_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4415/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4415/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b12c9cfc7a959de02a41e7ef176abaa8fcc8d218
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4415/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-0.6_0.0_MultiDynamics_arc_5_0.270_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4416/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4416/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87d03b02c55a03bd2ad4f71615c436c09badc9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4416/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.7_2.0_0.0_MultiDynamics_arc_19_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4417/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daeeefb99987efedeb55ac3f0768956f58de5618
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4417/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-0.7_0.0_MultiDynamics_arc_6_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4418/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4418/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17edf25f5eb5d445639b0b6b291599a4e4196a55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4418/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-0.8_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4419/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4419/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..673c65a02145ed2abb785ab25555b40417ef9b26
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4419/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-0.9_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_442/meta.json b/RH5_dataset_threads_5000eps/frames/episode_442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d31e46cd4a321e860cdcf457c0c13f072d9993
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_442/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062",
+  "object": "target",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.536,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.6_0.0_0.0_MultiDynamics_5_0.536_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4420/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4420/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..528ec6894a862c054f5cde856427e9326f1dce2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4420/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.0_0.0_MultiDynamics_arc_9_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4421/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4421/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b8405ba86c044e665253b630409eb5ccb750f3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4421/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.1_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4422/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4422/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b39d5ba9bd568b2f3cce3eee638403717bd3e99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4422/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.2_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4423/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4423/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e346fe2474a80486353ff124779cbbda193dc4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4423/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.3_0.0_MultiDynamics_arc_12_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4424/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4424/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc4fc0ad2d65a406640a7197f0de16d60879b74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4424/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.4_0.0_MultiDynamics_arc_13_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4425/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4425/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2686cf922924cd84a0ad9b3bf968d1e54881b90
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4425/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.5_0.0_MultiDynamics_arc_14_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4426/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4426/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e4c4bea09c3086e047909aa4790691dba37d61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4426/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.6_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4427/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4427/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..454528f0ed01f816730678b3417f9441b5d099ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4427/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.7_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4428/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4428/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85964d41297bd099643a7204baf3f1cadbb15b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4428/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.8_0.0_MultiDynamics_arc_17_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4429/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4429/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..705b87cb5488e69e6bd642c17aa766762abd235c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4429/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-1.9_0.0_MultiDynamics_arc_18_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_443/meta.json b/RH5_dataset_threads_5000eps/frames/episode_443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23f6d3dc969c930d6dcb520eaf61f40cccdb594
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_443/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.556:0.062",
+  "object": "target",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.556,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.7_0.0_0.0_MultiDynamics_5_0.556_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4430/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4430/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d55bf2debf4b129a650fcb31a83ca60e72ba69bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4430/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_0.6_0.0_MultiDynamics_arc_5_0.270_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4431/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4431/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baed6ed7011cf6d8a01b37723815cf476a814fb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4431/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_-2.0_0.0_MultiDynamics_arc_19_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4432/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4432/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..187d1e9246d246f3768886824dc954a1bd7c67ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4432/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_0.7_0.0_MultiDynamics_arc_6_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4433/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4433/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec52e1c4a52f24f71590b9e1984479b939b6d59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4433/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_0.8_0.0_MultiDynamics_arc_8_0.169_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4434/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4434/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ef4eae628b969a9a8934433150d32842d6f1354
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4434/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_0.9_0.0_MultiDynamics_arc_8_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4435/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4435/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dff8e9d13ae903a7c0108b7e7073f765b35146b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4435/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.0_0.0_MultiDynamics_arc_9_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4436/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4436/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f8bb6bf11e496cf4a87363fc9ab1ce488f2f1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4436/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.1_0.0_MultiDynamics_arc_11_0.123_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4437/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4437/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6cdfa8015316b65b65b475c895ecb58ebcf66e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4437/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.2_0.0_MultiDynamics_arc_11_0.123_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4438/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4438/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56246224b020f977760269c49de7dc53e9217fe3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4438/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.3_0.0_MultiDynamics_arc_12_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4439/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da1f62a1942bd0ef0a59b2fa8e93d726ce4091a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4439/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.4_0.0_MultiDynamics_arc_13_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_444/meta.json b/RH5_dataset_threads_5000eps/frames/episode_444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2533c1ce88ba5799f861d19def300081f8388a91
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_444/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.576:0.062",
+  "object": "target",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.576,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.8_0.0_0.0_MultiDynamics_5_0.576_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4440/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f1d9034b42a36dab0960e45d96c2b5b74f97816
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4440/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.5_0.0_MultiDynamics_arc_14_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4441/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0bbe770b9613b4371f35406926a6436dc7f0d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4441/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.6_0.0_MultiDynamics_arc_16_0.084_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4442/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a33af678428321351c6d53738c7fbfd7da8469
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4442/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.7_0.0_MultiDynamics_arc_16_0.084_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4443/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4443/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..113a5df506bb882c07db97a6fd9984e4320ffd16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4443/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.8_0.0_MultiDynamics_arc_17_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4444/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4444/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b0340eeb134c410ec9318df685f0aea35154bc6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4444/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_1.9_0.0_MultiDynamics_arc_18_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4445/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa8ccefe3e97f6cbbff9c8e25b1b794debd365bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4445/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-0.6_0.0_MultiDynamics_arc_5_0.290_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4446/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..addb45fd2feaeb478c9164006a2ee2b616503e33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4446/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.8_2.0_0.0_MultiDynamics_arc_19_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4447/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49e8e76bc1de77ff9972b0699b6d555a8ac7cf8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4447/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-0.7_0.0_MultiDynamics_arc_6_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4448/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7d0c6ebd33a4902870d84266c7c59ef769ebf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4448/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-0.8_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4449/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..956771ee1432a2c9e766d9f5eed9f8ac7b010909
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4449/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-0.9_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_445/meta.json b/RH5_dataset_threads_5000eps/frames/episode_445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e55c50938e0a35226e98c1bce8356e5de8cfcf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_445/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.596:0.062",
+  "object": "target",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.596,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 2.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_2.9_0.0_0.0_MultiDynamics_5_0.596_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4450/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8f299733fb54666c4d1b2bf58e170ed2c1115a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4450/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.0_0.0_MultiDynamics_arc_9_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4451/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc0217e057ab158a2fc08cbda7a16cd99af1290b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4451/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.1_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4452/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ad49738f22ee326d4bea02567d7161b19269af
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4452/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.2_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4453/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db5390e3049d0525c8b184ec55f80fd401125992
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4453/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.3_0.0_MultiDynamics_arc_12_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4454/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d2e979ec9f3c0d00e486bef6a086a5ba5674c62
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4454/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.4_0.0_MultiDynamics_arc_13_0.112_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4455/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6473e58c4dee524e23567a395dda708be8dadab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4455/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.5_0.0_MultiDynamics_arc_14_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4456/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f9bc63f3bfbb14a27097223ef5903607e1d4d64
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4456/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.6_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4457/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da552278317d9dd535822231a33dbc477ba92beb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4457/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.7_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4458/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b367930390b0f91ce6123ab938944cf25accf6cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4458/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.8_0.0_MultiDynamics_arc_17_0.085_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4459/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e467cf8a08cc60f2997487e95a68b4e27bd9ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4459/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-1.9_0.0_MultiDynamics_arc_18_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_446/meta.json b/RH5_dataset_threads_5000eps/frames/episode_446/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d3b686995136610ddf48e37d40cb00e9ba54f38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_446/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.616:0.062",
+  "object": "target",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.616,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 5,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.0_0.0_0.0_MultiDynamics_5_0.616_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4460/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a15c7d28276d8920466e85199bf93897b1b4e00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4460/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_0.6_0.0_MultiDynamics_arc_5_0.290_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4461/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f66a52cacba9dcdbf508f3431ff80daa99686e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4461/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_-2.0_0.0_MultiDynamics_arc_19_0.076_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4462/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c6b2ae4771eaf1a4864ae002db2331a99f777d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4462/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_0.7_0.0_MultiDynamics_arc_6_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4463/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7f571a88fd376a1ac2e8aea36b91859b92e0275
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4463/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_0.8_0.0_MultiDynamics_arc_8_0.181_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4464/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..642e0390e8ee67881dc844342e77e5025d271745
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4464/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (1.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_0.9_0.0_MultiDynamics_arc_8_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4465/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87236369b509b0091d0c65ef1f0a6fd8bf908eb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4465/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.0_0.0_MultiDynamics_arc_9_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4466/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..557cef1e6395093e7aeba03685e31b69d5eb710f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4466/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.1_0.0_MultiDynamics_arc_11_0.132_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4467/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4d3fe62ef5ece3c1a6e72868728c762e6a7be1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4467/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.2_0.0_MultiDynamics_arc_11_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4468/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..946660289d3230eaa0542921e51a1625059b81c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4468/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.3_0.0_MultiDynamics_arc_12_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4469/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca27579ae3036150f97ec957b1df1164e1f5676f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4469/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.4_0.0_MultiDynamics_arc_13_0.112_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_447/meta.json b/RH5_dataset_threads_5000eps/frames/episode_447/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..041130f73897c77f4541f8fabd5a4b1226536d7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_447/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062",
+  "object": "target",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.53,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.1 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.1_0.0_0.0_MultiDynamics_6_0.530_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4470/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aeb9b2116e81da61a998dc0a100a401a33a9561
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4470/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.5_0.0_MultiDynamics_arc_14_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4471/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f9473f90efbece4074f777cffdc139be348743
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4471/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.6_0.0_MultiDynamics_arc_16_0.091_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4472/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..638e59534169adb79c4339557e9b55664e3348fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4472/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.7_0.0_MultiDynamics_arc_16_0.091_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4473/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed99d278800d4bcb16acba4c24295559758047b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4473/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.8_0.0_MultiDynamics_arc_17_0.085_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4474/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b07f99d274269f2826c124b1f69a217a69c33ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4474/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (1.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_1.9_0.0_MultiDynamics_arc_18_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4475/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e971bc3780d89619f84662bede83a3cd8eab7fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4475/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (1.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_1.9_2.0_0.0_MultiDynamics_arc_19_0.076_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4476/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..277d94b2eb959978a7a0b911625907b0b2c2dddf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4476/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-0.6_0.0_MultiDynamics_arc_5_0.310_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4477/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e71b60f1609f7d4c09b5adcce5423e4f7b2758
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4477/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-0.7_0.0_MultiDynamics_arc_6_0.258_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4478/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f1cbb03779e246b693bfe93983a7e6f3775d57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4478/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-0.8_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4479/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c720ed73eebc7ad67e08ceb310f6acd7a0db399
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4479/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-0.9_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_448/meta.json b/RH5_dataset_threads_5000eps/frames/episode_448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d1031f333d1cbc0f71dec058da72c2b2e2c6c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_448/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.547:0.062",
+  "object": "target",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.547,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.2 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.2_0.0_0.0_MultiDynamics_6_0.547_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4480/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71466ec47fa5f9030f4b8cb194af7fa1a0ce488
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4480/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.0_0.0_MultiDynamics_arc_9_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4481/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bcd2b71786f49e6c5a262de9272b8462cf2b23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4481/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.1_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4482/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1b431dcbdfef1e0e9dee244ae81df3ec658408
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4482/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.2_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4483/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b8d8225f9d50b374d83005e8495a6330d4e1d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4483/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.3_0.0_MultiDynamics_arc_12_0.129_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4484/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f269b0cf0463bf678ae691fc243a63ca16ea275
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4484/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.4_0.0_MultiDynamics_arc_13_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4485/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..791a6b2a3fcbd52ad5c203df68082b33fece6590
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4485/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.5_0.0_MultiDynamics_arc_14_0.111_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4486/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69dc18bce755546f295cb124e6aa5ae6940e2c61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4486/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.6_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4487/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed223b1f9d29927d011742ffc7f42b0d9715399
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4487/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.7_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4488/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c397867f483d7a859760cbb76defe8e0773ca5c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4488/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.8_0.0_MultiDynamics_arc_17_0.091_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4489/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..153eb6dade71347e13d7dc5777641c7483cbbd45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4489/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-1.9_0.0_MultiDynamics_arc_18_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_449/meta.json b/RH5_dataset_threads_5000eps/frames/episode_449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..552bc74bfaceebbfe98de71baa8fa982c56b31cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_449/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.563:0.062",
+  "object": "target",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.563,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.3 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.3_0.0_0.0_MultiDynamics_6_0.563_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4490/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54038e37302b46ff29e2392ae288ad6be9bfe8a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4490/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_-2.0_0.0_MultiDynamics_arc_19_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4491/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff7c16fa89eb014f4cac2b08654834d56951825
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4491/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_0.6_0.0_MultiDynamics_arc_5_0.310_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4492/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfbfecdbd3849be525da5aba8d078f47095d832a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4492/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_0.7_0.0_MultiDynamics_arc_6_0.258_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4493/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..849f8f52739e9c706206c13c7eaced846d000552
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4493/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_0.8_0.0_MultiDynamics_arc_8_0.194_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4494/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b338c23ed0a5ab24249f47e4ecbd0d3ab3409a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4494/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_0.9_0.0_MultiDynamics_arc_8_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4495/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94eaf7a9cf190777267079902de663d62424e743
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4495/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.0_0.0_MultiDynamics_arc_9_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4496/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54094f6cdb8b53da46642e74a659b3cee6b1e7ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4496/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.1_0.0_MultiDynamics_arc_11_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4497/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11343f248237dc2e4ca7f422e98c520790b73b53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4497/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.2_0.0_MultiDynamics_arc_11_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4498/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21fdb7fd51950698bd46385b39732d29416e207
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4498/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.3_0.0_MultiDynamics_arc_12_0.129_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4499/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36904c65a01e32f509322f4babd507d3ad2c3a2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4499/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.4_0.0_MultiDynamics_arc_13_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_45/meta.json b/RH5_dataset_threads_5000eps/frames/episode_45/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e88d3a2d10d8c8b1bc4693ea0edea764a012573
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_45/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_450/meta.json b/RH5_dataset_threads_5000eps/frames/episode_450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..516638e50816e764614a4a1d85a9db10d8657cb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_450/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062",
+  "object": "target",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.58,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.4 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.4_0.0_0.0_MultiDynamics_6_0.580_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4500/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deb2d7cdbd83fe6df6627742e467bca1a06bc1a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4500/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.5_0.0_MultiDynamics_arc_14_0.111_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4501/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0d7ae65d9ddc995691b9cc4b9e4ee82a799c54
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4501/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.6_0.0_MultiDynamics_arc_16_0.097_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4502/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c8aa8957ebccc8dc48572740e2cf1f2813ac1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4502/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.7_0.0_MultiDynamics_arc_16_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4503/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99fd5ea176b9b70b42a5a6b0b3137733eb828355
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4503/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.8_0.0_MultiDynamics_arc_17_0.091_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4504/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc92b9f20b41878f4082dc9f610bfdd39d28c223
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4504/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_1.9_0.0_MultiDynamics_arc_18_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4505/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f32461c8515bcf2d118cbf73b4c76961e0dca3fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4505/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.0_2.0_0.0_MultiDynamics_arc_19_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4506/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45753e623b0356aa4e59edc88bbb8ac88a8f572f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4506/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-0.6_0.0_MultiDynamics_arc_5_0.330_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4507/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b40e3f5f673d2f9767f29c84e8a43d6fcac57ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4507/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-0.7_0.0_MultiDynamics_arc_6_0.275_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4508/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28965a2b7f61dacf932aaea0af44605aa0c5307c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4508/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-0.8_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4509/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6302d8956f28e8d0a3150dd32e46afb42a4f911c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4509/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-0.9_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_451/meta.json b/RH5_dataset_threads_5000eps/frames/episode_451/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4017ddfc63cac8c6c10def88e424d05d6cc4eeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_451/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.597:0.062",
+  "object": "target",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.597,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.5 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.5_0.0_0.0_MultiDynamics_6_0.597_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4510/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8ad4f93bf18fbe8531a078f632cded1d6c74e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4510/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.0_0.0_MultiDynamics_arc_9_0.183_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4511/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1945117fcf226fef29f5810bc3d31bcc4f1a1dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4511/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.1_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4512/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b774713a47f92813e63acc4b78e8bc80097c7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4512/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.2_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4513/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7c029a75fb17c1824c1b35588dbf8792fa5c4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4513/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.3_0.0_MultiDynamics_arc_12_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4514/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3881a211c2c5c2a0a6f0214fa60dd26d5892ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4514/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.4_0.0_MultiDynamics_arc_13_0.127_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4515/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f1bbcb435c3ab30f8ff9b3f5c2ad4aa1abc9d11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4515/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.5_0.0_MultiDynamics_arc_14_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4516/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21d3da813b0782d7bbbbc15402b0859067d09bc0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4516/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.6_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4517/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7df93ab581ea8398e80bf340e5e58455afd45b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4517/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.7_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4518/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b32d29b767fe00b408bbbbf87a846c01c06adf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4518/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.8_0.0_MultiDynamics_arc_17_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4519/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6377f81b3f2233da5f5606413ebb124ac4275f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4519/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-1.9_0.0_MultiDynamics_arc_18_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_452/meta.json b/RH5_dataset_threads_5000eps/frames/episode_452/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67466834f749fb716c97e101e74bda80159dc7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_452/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.613:0.062",
+  "object": "target",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.613,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.6 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.6_0.0_0.0_MultiDynamics_6_0.613_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4520/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b56591857440c513f0000cd7c05a62391dd64ba8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4520/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_-2.0_0.0_MultiDynamics_arc_19_0.087_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4521/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9448ffdeed85098224bad186d01003b35b774a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4521/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_0.6_0.0_MultiDynamics_arc_5_0.330_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4522/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6673689aaf4ea49ae933560b9c08fc39bdee1422
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4522/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_0.7_0.0_MultiDynamics_arc_6_0.275_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4523/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b59c362d4eb536a25694217d6bbe00180f669d01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4523/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_0.8_0.0_MultiDynamics_arc_8_0.206_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4524/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea172ed6f5850c4d059e41b2dec6c50f7d1e219
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4524/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_0.9_0.0_MultiDynamics_arc_8_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4525/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a90b4bed9bbf9e6148fb3f4c6496472333bb26f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4525/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.0_0.0_MultiDynamics_arc_9_0.183_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4526/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f8d3af1e40102308e3c272d80e312d363dda5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4526/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.1_0.0_MultiDynamics_arc_11_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4527/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2fdff9b6db88b5df7de05598a932d550076c8be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4527/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.2_0.0_MultiDynamics_arc_11_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4528/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec298878e7cf8fca324849d87009986ba879abe4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4528/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.3_0.0_MultiDynamics_arc_12_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4529/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cca90fd148c2a60ada90555699eb9eec01b33a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4529/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.4_0.0_MultiDynamics_arc_13_0.127_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_453/meta.json b/RH5_dataset_threads_5000eps/frames/episode_453/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05fc0173c06ac3c94e753b464780571411b7d423
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_453/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.630:0.062",
+  "object": "target",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.63,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 6,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.7 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.7_0.0_0.0_MultiDynamics_6_0.630_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4530/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7307d8c1b689c4a609891b452363211cdda3255
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4530/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.5_0.0_MultiDynamics_arc_14_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4531/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96d8d56aeef8fb088d4fca38ac3e50f59d38e83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4531/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.6_0.0_MultiDynamics_arc_16_0.103_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4532/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f58a88c0e8baa72ee22d7741f5a9f950d7e45b98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4532/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.7_0.0_MultiDynamics_arc_16_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4533/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0723df92157d9b93383e3453656612761d02d151
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4533/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.8_0.0_MultiDynamics_arc_17_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4534/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25433c6be13628e581b29f0816338f2e367f9de3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4534/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_1.9_0.0_MultiDynamics_arc_18_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4535/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..777e6050b4acefbebc108731e7f8ffe05a641e24
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4535/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.1_2.0_0.0_MultiDynamics_arc_19_0.087_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4536/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5befbe51570eb86166e3764306dc28fb3627807
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4536/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-0.6_0.0_MultiDynamics_arc_5_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4537/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd9ab48ad975096aa18c7dad63e5cfa0185ea8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4537/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-0.7_0.0_MultiDynamics_arc_6_0.292_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4538/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a75714bf823e8fd7d5795e2ad8571bce923cabbf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4538/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-0.8_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4539/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..261f52af567834cb016fa161daa097e3ffe4bf5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4539/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-0.9_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_454/meta.json b/RH5_dataset_threads_5000eps/frames/episode_454/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..879cbc88da32721123416f40b01a4c02fdf8702a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_454/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.554:0.062",
+  "object": "target",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.554,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.8 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.8_0.0_0.0_MultiDynamics_7_0.554_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4540/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..492853fe0c3e727237ce90ca3bcc359f1e355ce5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4540/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.0_0.0_MultiDynamics_arc_9_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4541/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd8ad57e7d9bda89fcd5f8878421887b27de960
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4541/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.1_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4542/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dda6c9058bd0f2d28d462cf0528c5692d4cea45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4542/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.2_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4543/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41298f0452f95b3a8ae262ad81e2de4e875061a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4543/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.3_0.0_MultiDynamics_arc_12_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4544/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4cefb5d887d5a5c78b4863a4aa898e5c346b577
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4544/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.4_0.0_MultiDynamics_arc_13_0.135_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4545/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c49c4b84dd68b7c56551b1f494380b852b40a2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4545/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.5_0.0_MultiDynamics_arc_14_0.125_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4546/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0bf73ada73ec5e8f786452d32bf1be0e493b6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4546/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.6_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4547/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e00ba310f83ee03f926a22fb6c9cb5f5211cb1ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4547/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.7_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4548/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9856c4654ff1163e54cd93701cecda44441f0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4548/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.8_0.0_MultiDynamics_arc_17_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4549/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe86608094e637d47846afd5daa9590efbac177
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4549/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-1.9_0.0_MultiDynamics_arc_18_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_455/meta.json b/RH5_dataset_threads_5000eps/frames/episode_455/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2c8b2ed3ab9206e5470b633ce8d2891ae945f2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_455/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.569:0.062",
+  "object": "target",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.569,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 3.9 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_3.9_0.0_0.0_MultiDynamics_7_0.569_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4550/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..879cac8b2da54fa03299dc8efb5109acc29f7222
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4550/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_-2.0_0.0_MultiDynamics_arc_19_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4551/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53fb5ef982b76d3b08a324075b75dba8890e0e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4551/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_0.6_0.0_MultiDynamics_arc_5_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4552/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e99c54d6ff69535fde86bf1c8f563a75ed7eea0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4552/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_0.7_0.0_MultiDynamics_arc_6_0.292_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4553/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e9866149643fe0a3dd480a33bb9024f78439e58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4553/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_0.8_0.0_MultiDynamics_arc_8_0.219_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4554/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6ba5b66ed9efaceb6547d1a197e814f79c2eac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4554/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_0.9_0.0_MultiDynamics_arc_8_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4555/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46260ff18fe54c327e9f20ed4c1f7e2cd8f95bbf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4555/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.0_0.0_MultiDynamics_arc_9_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4556/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad1ff455ad6d169bd8db6b8cd1697b729759645
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4556/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.1_0.0_MultiDynamics_arc_11_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4557/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..958ae5c3618cd1985cb213e7e4c1acb54b93fd5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4557/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.2_0.0_MultiDynamics_arc_11_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4558/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8eae6ead603522f726cfffd3335322dbca5c984
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4558/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.3_0.0_MultiDynamics_arc_12_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4559/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a5e8ed27c8e97365c554e71643504917f7e890e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4559/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.4_0.0_MultiDynamics_arc_13_0.135_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_456/meta.json b/RH5_dataset_threads_5000eps/frames/episode_456/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1ad0a4a2a2316de2aadc21d7abd25cffa375638
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_456/meta.json
@@ -0,0 +1,25 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:7:0.583:0.062",
+  "object": "target",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_step_length": 0.583,
+  "used_step_height": 0.062,
+  "used_arc_step_length": null,
+  "used_arc_step_height": null,
+  "used_arc_lateral_offset": null,
+  "used_step_count": 7,
+  "used_is_arc": false,
+  "description": "Walk to the yellow target at distance <DIST> 4.0 </DIST> and stop",
+  "task_title": "Walk to target",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/target/yellow_4.0_0.0_0.0_MultiDynamics_7_0.583_0.062"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4560/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db3e94dc775c26b0b1bd08b50a5fa70244f38e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4560/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.5_0.0_MultiDynamics_arc_14_0.125_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4561/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd658aa9aa2a10606c8a8a0505002b7f630da2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4561/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.6_0.0_MultiDynamics_arc_16_0.109_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4562/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfdfad5e90f08484127f870b6d3a950420f7afcf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4562/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.7_0.0_MultiDynamics_arc_16_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4563/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..355ca99e10d6342c9ff51877ae92558559917c14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4563/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.8_0.0_MultiDynamics_arc_17_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4564/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed64a319d9ee639ff882b5d2721bc296879f7d19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4564/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_1.9_0.0_MultiDynamics_arc_18_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4565/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db070798aee99b77c2ecf242557bfb01011bb36f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4565/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.2_2.0_0.0_MultiDynamics_arc_19_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4566/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2354332012ccc9f80adc0ad6e61241f3efd1c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4566/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-0.6_0.0_MultiDynamics_arc_5_0.370_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4567/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..986fffe9caca023e99f3dd82895a9aacb1e2cf45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4567/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-0.7_0.0_MultiDynamics_arc_6_0.308_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4568/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b5d5f8aab75f17c092722b7cfbf4322f655cf3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4568/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-0.8_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4569/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb574d0e44297f4fb806ab4ec403dbdeaa27c6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4569/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-0.9_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_457/meta.json b/RH5_dataset_threads_5000eps/frames/episode_457/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fab8d4e0bfc66837c6c552942867bac681e1e17
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_457/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-0.6_0.0_MultiDynamics_arc_5_0.110_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4570/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4329846d9dd4bf1d6b86d8e9d089fe5bc4561b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4570/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.0_0.0_MultiDynamics_arc_9_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4571/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2edb3db5b6d965dc3588151082ebf0f99036e847
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4571/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.1_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4572/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ca675aa6c4bff1417f786d76262fd10ab1288c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4572/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.2_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4573/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee98b2ac315661f85f1eb117f127cf0f35f1386a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4573/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.3_0.0_MultiDynamics_arc_12_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4574/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1124cdc47f81690977c4f823ffdf600f49e0f4a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4574/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.4_0.0_MultiDynamics_arc_13_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4575/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..854806d582eee040d7a143672e3782ab34fd499b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4575/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.5_0.0_MultiDynamics_arc_14_0.132_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4576/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..882368021ccdd098f835ee9028fab270aa88902b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4576/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.6_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4577/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dffa082e60fdbfb101c222d1d56f37e78d57f51
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4577/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.7_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4578/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e5566bb5caeae389c1720a2ef7ea188bba7c75
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4578/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.8_0.0_MultiDynamics_arc_17_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4579/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c4a08762748175b0a00360ab595e09837678cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4579/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-1.9_0.0_MultiDynamics_arc_18_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_458/meta.json b/RH5_dataset_threads_5000eps/frames/episode_458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f07c8925a64fb5c17207e94347939d62ef6294
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_458/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-0.6_0.0_MultiDynamics_arc_5_0.130_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4580/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..decb6fd94c1a911a68b427d0ba3692d601f86aac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4580/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_-2.0_0.0_MultiDynamics_arc_19_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4581/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..832cf7688fe525f971a8602e659f4f599fbf6460
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4581/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_0.6_0.0_MultiDynamics_arc_5_0.370_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4582/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc6ed5b284218175666748a6cd07adbe9f97cbd6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4582/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_0.7_0.0_MultiDynamics_arc_6_0.308_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4583/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1978cde3ae21f6e02f125995aa753a39bf5b5a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4583/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_0.8_0.0_MultiDynamics_arc_8_0.231_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4584/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f39a526ddd6f794d533d577b182dabc90d2c46f3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4584/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_0.9_0.0_MultiDynamics_arc_8_0.231_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4585/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32976f23cc846137f35ad0d513fc52d9a358475c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4585/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.0_0.0_MultiDynamics_arc_9_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4586/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dce81fd38022451a8040be23d5dd6c5b4e99304
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4586/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.1_0.0_MultiDynamics_arc_11_0.168_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4587/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7edc13983a62a772d27d54448b144fc78eca9cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4587/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.2_0.0_MultiDynamics_arc_11_0.168_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4588/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f9ca33dd1d20619bcb0437ff11f752a57e8c682
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4588/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.3_0.0_MultiDynamics_arc_12_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4589/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d2e51e522c1e44b5aae1e43ca831b04aee2120
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4589/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.4_0.0_MultiDynamics_arc_13_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_459/meta.json b/RH5_dataset_threads_5000eps/frames/episode_459/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..608691469f7731fec0cec328461dd4bb8c67ff38
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_459/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.110:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.11,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_0.6_0.0_MultiDynamics_arc_5_0.110_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4590/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f5618c00e6a66bac81b4bd0def53c794f1fe2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4590/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.5_0.0_MultiDynamics_arc_14_0.132_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4591/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..781d8f36374a5de146c61296378cc0aeeec7443f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4591/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.6_0.0_MultiDynamics_arc_16_0.116_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4592/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d1a4858ba0910d555ee5bdfaaa2fde230c80bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4592/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.7_0.0_MultiDynamics_arc_16_0.116_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4593/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdf6a26afaf4bbfd5fc1b32d8c14abcefaa37f4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4593/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.8_0.0_MultiDynamics_arc_17_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4594/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06b97f96ce6452db982653d10df79d77135b6e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4594/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_1.9_0.0_MultiDynamics_arc_18_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4595/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9dfb0472557f87b7f755efbb04d60b3672d743
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4595/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-0.6_0.0_MultiDynamics_arc_5_0.390_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4596/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8014627704669689b079b83ce2ef71190c5863d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4596/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.3_2.0_0.0_MultiDynamics_arc_19_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4597/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8004837b9266720f71107b6754b11a4f376125
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4597/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-0.7_0.0_MultiDynamics_arc_6_0.325_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4598/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..714a20dd935a2d79ac552ac9ae4901153dfe225a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4598/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-0.8_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4599/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ad9575e9d2bf1be834fec649d9e51300a5d1174
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4599/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-0.9_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_46/meta.json b/RH5_dataset_threads_5000eps/frames/episode_46/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7633f9d94696d3a32d400e6bba09baa011f069a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_46/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.540:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.7_0.0_0.0_MultiDynamics_4_0.540_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_460/meta.json b/RH5_dataset_threads_5000eps/frames/episode_460/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..579d1ee1534e5dbeade3847be50e493ac739cb72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_460/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-0.7_0.0_MultiDynamics_arc_6_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4600/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..266898cd6bdcbd12e6de62ca3c58ce0da96e0bdd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4600/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.0_0.0_MultiDynamics_arc_9_0.217_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4601/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f33afcbb0f29ea6515e1e9e6e59756aa125bbcc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4601/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.1_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4602/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71383177a278de314c418484276e30acd22a40d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4602/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.2_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4603/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdb2f7c2f37cb425d15e8b337b9ead00a8c86b42
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4603/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.3_0.0_MultiDynamics_arc_12_0.163_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4604/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f7dd764bb67f042ccd9fa63010e8d33e3b1642
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4604/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.4_0.0_MultiDynamics_arc_13_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4605/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04aea8f41bf5ed237a90ed6eb74fa5ca25b17bd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4605/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.5_0.0_MultiDynamics_arc_14_0.139_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4606/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac3347ce612b002f0f784cf97e4158090a3dfea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4606/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.6_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4607/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3bb403f3c8bbabb9c1bcf8bdfbdb18f8d2711a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4607/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.7_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4608/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da2af861ab623200b809b89a0c1a04f03a241d93
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4608/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.8_0.0_MultiDynamics_arc_17_0.115_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4609/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d9bf0d94217e16dfcf83a412e578e2c5f2a723
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4609/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-1.9_0.0_MultiDynamics_arc_18_0.108_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_461/meta.json b/RH5_dataset_threads_5000eps/frames/episode_461/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c965d174d14573b82510caea03525c238332ab9e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_461/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_0.7_0.0_MultiDynamics_arc_6_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4610/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..591eccc98dedcb737dab336c812607981c8aa673
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4610/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_0.6_0.0_MultiDynamics_arc_5_0.390_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4611/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae19ccfeed22fb93cf44d1d4ee8c71afed15cd97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4611/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_-2.0_0.0_MultiDynamics_arc_19_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4612/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7ef12fcd981eac6b6235d8bb052337ccee565b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4612/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_0.7_0.0_MultiDynamics_arc_6_0.325_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4613/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbeb7fe0e761d482e685ac18fe66382b9986655c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4613/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_0.8_0.0_MultiDynamics_arc_8_0.244_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4614/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e6ef22e980b44c5284df3780b50b37e4703d456
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4614/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_0.9_0.0_MultiDynamics_arc_8_0.244_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4615/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4ab01bc7790dbb2f07f2e09a6ad115d9d700009
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4615/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.0_0.0_MultiDynamics_arc_9_0.217_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4616/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5618005f138d0395c6a9e922ca31819d315207
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4616/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.1_0.0_MultiDynamics_arc_11_0.177_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4617/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40043886124da4af8592fd6d067d7a0f094cda4e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4617/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.2_0.0_MultiDynamics_arc_11_0.177_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4618/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb0d8d764c423e1f0cc64b1528bac2eeaa41d283
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4618/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.3_0.0_MultiDynamics_arc_12_0.163_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4619/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b69fe7d6f43078fa75bbad30e237f3ec4294a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4619/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.4_0.0_MultiDynamics_arc_13_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_462/meta.json b/RH5_dataset_threads_5000eps/frames/episode_462/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ab5c851a143a8a386a5ad7d57107a3222870a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_462/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-0.7_0.0_MultiDynamics_arc_6_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4620/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2dc174bcc84304681b0d0d08d87d656779b768
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4620/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.5_0.0_MultiDynamics_arc_14_0.139_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4621/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f258b27f89075ab2f3ea8928d2a93be4cef67639
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4621/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.6_0.0_MultiDynamics_arc_16_0.122_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4622/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a49f72316f9fd9640a7dc3d6c5dfe89deb54904
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4622/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.7_0.0_MultiDynamics_arc_16_0.122_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4623/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b19f9c7a7b2c9c24760659d5204c67db1dbaf6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4623/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.8_0.0_MultiDynamics_arc_17_0.115_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4624/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f47346417dd91dbeb9d77aeaeb17798914440b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4624/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_1.9_0.0_MultiDynamics_arc_18_0.108_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4625/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e04a793ea1a0b21293a6a9419cd4a1d0cd22aef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4625/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-0.6_0.0_MultiDynamics_arc_5_0.410_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4626/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fdc1a5f6beada867c688cbc621a76cf2584b70e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4626/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.4_2.0_0.0_MultiDynamics_arc_19_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4627/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a294e2aa7396a70b0493ed37d937893b78ede1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4627/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-0.7_0.0_MultiDynamics_arc_6_0.342_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4628/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad14a7cc011b9e92e464274a9d69bc75e7bce4d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4628/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-0.8_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4629/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8886162a70769e07407b3c8e1e4e5027716b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4629/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-0.9_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_463/meta.json b/RH5_dataset_threads_5000eps/frames/episode_463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae1a483c22c499e57fd5aebb5d84481116cf10a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_463/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-0.8_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4630/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57348b06368acdd346418076fbe2e3a33947d075
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4630/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.0_0.0_MultiDynamics_arc_9_0.228_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4631/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bdc248b43a2c9b36c845d5546724a3e09f4f673
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4631/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.1_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4632/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..781613a0b582673d8136ae54feb5d91d361aa5e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4632/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.2_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4633/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b090cb4ab8b4ba620485d5eddc824be69e3403
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4633/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.3_0.0_MultiDynamics_arc_12_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4634/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..734c168ef7ee304b866b3e9c76026b07b65f0705
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4634/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.4_0.0_MultiDynamics_arc_13_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4635/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfe8ed10954c5d6019368bcd08d020658f4eed7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4635/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.5_0.0_MultiDynamics_arc_14_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4636/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eafc716ebb13acdf238898aaa8031edcb0073c87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4636/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.6_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4637/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1613942d8eca31907e66827290737f66cc755a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4637/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.7_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4638/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6759723cd65b54c73ff4f6ab5427d486ad3a47dd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4638/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.8_0.0_MultiDynamics_arc_17_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4639/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d736bb296a366b88017084342130e3899f10dd8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4639/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-1.9_0.0_MultiDynamics_arc_18_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_464/meta.json b/RH5_dataset_threads_5000eps/frames/episode_464/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..506bd76fe75f1d2e256060f10bc1b72dc1e7affd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_464/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_0.8_0.0_MultiDynamics_arc_8_0.069_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4640/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d337835701478e639a6aac0f1ddaf776cb3d7b7c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4640/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_0.6_0.0_MultiDynamics_arc_5_0.410_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4641/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bdd81386c92f05b51c9e0fa27caf68a660a4871
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4641/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_-2.0_0.0_MultiDynamics_arc_19_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4642/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce1a66f6d5b62252142ba5fc4457f1aeda97fe1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4642/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_0.7_0.0_MultiDynamics_arc_6_0.342_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4643/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e3ec5a7cff147962a874381fc9482d04e2910e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4643/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_0.8_0.0_MultiDynamics_arc_8_0.256_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4644/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71be6a7e3a8be16f4442acc8602c0d8766a77954
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4644/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_0.9_0.0_MultiDynamics_arc_8_0.256_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4645/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a2e50ffc3e9b6c80037bf0bd46828890cb3892
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4645/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.0_0.0_MultiDynamics_arc_9_0.228_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4646/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b278fcaea769f7660b1ef479c87d090455e88723
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4646/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.1_0.0_MultiDynamics_arc_11_0.186_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4647/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3366368f7b202fa7ef9e54cbb2596f3308f1e723
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4647/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.2_0.0_MultiDynamics_arc_11_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4648/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f4bb43c3dd0380da906923363248481d9d5cd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4648/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.3_0.0_MultiDynamics_arc_12_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4649/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e577a74059fa8b42ecbcf5227c9e386e542f2b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4649/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.4_0.0_MultiDynamics_arc_13_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_465/meta.json b/RH5_dataset_threads_5000eps/frames/episode_465/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac1fab5957aba3841286197c866d4c0590b4ea8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_465/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-0.9_0.0_MultiDynamics_arc_8_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4650/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89afd51e72e018746d5662ebd1cdfae67d29e96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4650/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.5_0.0_MultiDynamics_arc_14_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4651/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec550496515ba212040de3f45947eb05b058e44a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4651/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.6_0.0_MultiDynamics_arc_16_0.128_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4652/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45be00296ccc01092e24cfe1aa61e333d0524805
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4652/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.7_0.0_MultiDynamics_arc_16_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4653/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..194a491cb44f9a7bc065ff820815cb2dbc930f3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4653/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.8_0.0_MultiDynamics_arc_17_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4654/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f5e91e9d2d8437d2307881496cd1d0b296d6b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4654/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_1.9_0.0_MultiDynamics_arc_18_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4655/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c68cba69184667d23b8950c0ca754e649de2e9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4655/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-0.6_0.0_MultiDynamics_arc_5_0.430_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4656/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f541c1c6b6382e911d82116d0c06b5428d05d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4656/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.5_2.0_0.0_MultiDynamics_arc_19_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4657/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7691ce2c86f5c57e71da0cf2941b6dc23171ec5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4657/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-0.7_0.0_MultiDynamics_arc_6_0.358_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4658/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..076ec6f262adaf407964c79064432615f88744e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4658/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-0.8_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4659/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96daf726f36dd1fe8331a874ed449568f56d6440
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4659/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-0.9_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_466/meta.json b/RH5_dataset_threads_5000eps/frames/episode_466/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..408df5eef4797b4e6e28137666d6c3ad22027f46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_466/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_0.9_0.0_MultiDynamics_arc_8_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4660/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..857d854d58f0cd796829b38ecc0acc0661dd17d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4660/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.0_0.0_MultiDynamics_arc_9_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4661/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43110af51fe88f54de980081c98a16b340fd9c43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4661/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.1_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4662/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8338e179632414c203c573a3af83c7ee58ca31f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4662/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.2_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4663/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc3374c885f73fcc3a924d722e8dd48fb18be46b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4663/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.3_0.0_MultiDynamics_arc_12_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4664/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f5e27e2b5cf90ba0df4f794be23e65e922134e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4664/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.4_0.0_MultiDynamics_arc_13_0.165_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4665/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc96364bfc7a8973830ac16a5ad36ded4eb398b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4665/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.5_0.0_MultiDynamics_arc_14_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4666/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd074d00f5f004b608f53bbe67b4bc745521865d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4666/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.6_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4667/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7ecf5fb7a7da9e573a0acb6cef92be618ab205
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4667/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.7_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4668/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f0f902662f5720891aab5bbecf1da186bcaf8c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4668/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.8_0.0_MultiDynamics_arc_17_0.126_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4669/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e01e8cb57f7ba63e5dc9945be68bbac7285a06e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4669/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-1.9_0.0_MultiDynamics_arc_18_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_467/meta.json b/RH5_dataset_threads_5000eps/frames/episode_467/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf97f29a4d241f3842877ecb85a6b4708018ed8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_467/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.0_0.0_MultiDynamics_arc_9_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4670/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50931745381de207474ec1a58e8d113545df1d8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4670/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_0.6_0.0_MultiDynamics_arc_5_0.430_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4671/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82c5031f97b41f118648360930b807b610eee7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4671/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_-2.0_0.0_MultiDynamics_arc_19_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4672/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b53bbabb8dee3099780b44fa955f55eac7f00a85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4672/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_0.7_0.0_MultiDynamics_arc_6_0.358_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4673/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f2c958f9492d3e86ad27f9b7214a512611d5e74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4673/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_0.8_0.0_MultiDynamics_arc_8_0.269_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4674/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..977e3357efb683ad17d1d169b72e7f2b42aac860
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4674/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_0.9_0.0_MultiDynamics_arc_8_0.269_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4675/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68062afb37f8d2d06e2ae9685dab03fe888346ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4675/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.0_0.0_MultiDynamics_arc_9_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4676/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d07b5c18b95d19d54e47f06e7f1b2fceb8a7bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4676/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.1_0.0_MultiDynamics_arc_11_0.195_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4677/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..767ba8947ce787b665aae445b359f97f0635242d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4677/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.2_0.0_MultiDynamics_arc_11_0.195_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4678/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ac1e66373ed325176e9308b5560b55bf556600
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4678/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.3_0.0_MultiDynamics_arc_12_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4679/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a27b5a8db1fae1cc6365d447956885c0006081
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4679/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.4_0.0_MultiDynamics_arc_13_0.165_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_468/meta.json b/RH5_dataset_threads_5000eps/frames/episode_468/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80cf796f942ef41147b6c040ae2a63793402dc8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_468/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.0_0.0_MultiDynamics_arc_9_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4680/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca8a0ed0af8383d01c304ed6664e26cfcaa82a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4680/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.5_0.0_MultiDynamics_arc_14_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4681/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd7f477d97b69dcde3501285565491e38d71b0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4681/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.6_0.0_MultiDynamics_arc_16_0.134_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4682/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cf787b56ff72c62c0ee9452c92130995cdd30e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4682/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.7_0.0_MultiDynamics_arc_16_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4683/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca45f666443890d695d29f3be10e85f210af6e1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4683/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.8_0.0_MultiDynamics_arc_17_0.126_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4684/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d4fc5f964685a48ce941dc4dc8b1f13e5debf1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4684/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_1.9_0.0_MultiDynamics_arc_18_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4685/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..948c519b4f6e559521de13983fa474b28ce183c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4685/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-0.6_0.0_MultiDynamics_arc_5_0.450_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4686/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e292f783d35142795de1e4fbd85fca5f8a11adc1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4686/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.6_2.0_0.0_MultiDynamics_arc_19_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4687/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..775667065520299255dd848e22f4f000de86795a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4687/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-0.7_0.0_MultiDynamics_arc_6_0.375_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4688/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7bcbdf75c94f07e385504b83adb7c674af6106
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4688/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-0.8_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4689/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be552225f2d52c8f9640a9887e962d1f890182c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4689/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-0.9_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_469/meta.json b/RH5_dataset_threads_5000eps/frames/episode_469/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f91d6324dea16eacba6aa1fa414945cf175653d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_469/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.1_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4690/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a197660d4604fd71bdff2a54b1d6c7238aa203c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4690/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.0_0.0_MultiDynamics_arc_9_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4691/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d3942ba7ecc31ead6419e3938706fc96f453b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4691/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.1_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4692/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56ee72b9d817f3b21deb93e6cb29b98cbf42cb5b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4692/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.2_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4693/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd5fec60f364b4e6e059ebc63190412c2da2af77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4693/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.3_0.0_MultiDynamics_arc_12_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4694/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b322a934e964315a3d87f546823d5754c442c4ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4694/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.4_0.0_MultiDynamics_arc_13_0.173_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4695/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ad4c8029c996fdbcf42d5151337f15064be20f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4695/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.5_0.0_MultiDynamics_arc_14_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4696/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f733e031a5bd76a06b70b41d810d3b814efc20f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4696/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.6_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4697/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6f63d51288d18266f3ce5b36ab403f50d0ded1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4697/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.7_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4698/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea7bd082ac110ff41a4cf09bdbe8bcd12f5f605
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4698/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.8_0.0_MultiDynamics_arc_17_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4699/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..779a5ae015f0ca25f5c263fff5163a80122ab1be
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4699/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-1.9_0.0_MultiDynamics_arc_18_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_47/meta.json b/RH5_dataset_threads_5000eps/frames/episode_47/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e367c6492e3f3ef8239e61ad04ef49bfc7907233
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_47/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.8_0.0_0.0_MultiDynamics_4_0.560_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_470/meta.json b/RH5_dataset_threads_5000eps/frames/episode_470/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae86e7ce1569081e7277dacfffce396ce7120f1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_470/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.1_0.0_MultiDynamics_arc_11_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4700/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7166d2f1093df730ccfc085bc88c2966e9aa5d10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4700/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_0.6_0.0_MultiDynamics_arc_5_0.450_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4701/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9860271e15b5ff4d2873e154038ea4003ebfcec3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4701/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_-2.0_0.0_MultiDynamics_arc_19_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4702/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c170cc2c7143bb312c07a563ec42c53cb15f97ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4702/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_0.7_0.0_MultiDynamics_arc_6_0.375_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4703/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc9d7b402d715fbaa41209c83ac002ec8dd4f39
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4703/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_0.8_0.0_MultiDynamics_arc_8_0.281_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4704/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a88f57880905c3d537599308c50802547936acc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4704/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_0.9_0.0_MultiDynamics_arc_8_0.281_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4705/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edbb88ef67f4389877f8edab8ba97f651d749f23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4705/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.0_0.0_MultiDynamics_arc_9_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4706/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b82d8c7a88dc30d925b902b04cde9c4f99a8ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4706/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.1_0.0_MultiDynamics_arc_11_0.205_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4707/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71bcb8b4bc58fa7321e9ffd184f4eb5d1f13c908
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4707/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.2_0.0_MultiDynamics_arc_11_0.205_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4708/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8369c2257d01da1a8072a2a2b3acce75384469
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4708/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.3_0.0_MultiDynamics_arc_12_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4709/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddcc4cad7fd019d32f0af92e88dcdbcfbdc390ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4709/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.4_0.0_MultiDynamics_arc_13_0.173_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_471/meta.json b/RH5_dataset_threads_5000eps/frames/episode_471/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ee80aa1004bf63eab6d469e2d6655edc8d574d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_471/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.2_0.0_MultiDynamics_arc_11_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4710/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a554967999c5bdfd99b1032939830f1e465419
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4710/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.5_0.0_MultiDynamics_arc_14_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4711/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a235ff1bfeb540ee252855741b3a10f8ed987b0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4711/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.6_0.0_MultiDynamics_arc_16_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4712/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a19f19f6e098e22a9e17928182602e1a1f69056
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4712/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.7_0.0_MultiDynamics_arc_16_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4713/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d890e3b5ad9fce6234b41e74f98dfd79946710
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4713/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.8_0.0_MultiDynamics_arc_17_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4714/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e70e17e2829589c1f75965d8f04011edb94556c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4714/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_1.9_0.0_MultiDynamics_arc_18_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4715/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d99d84ef70f01bc0642cf1257e01fcc771fb79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4715/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-0.6_0.0_MultiDynamics_arc_5_0.470_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4716/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d0b78c085b196a0ae7313a99f88fcc7d70d1f4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4716/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.7_2.0_0.0_MultiDynamics_arc_19_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4717/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d28b2cc7b0d59474657cb8a746a5232fbd1827
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4717/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-0.7_0.0_MultiDynamics_arc_6_0.392_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4718/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07fc5161542675fb922dda48761529ab058d47d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4718/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-0.8_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4719/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0d763b71a6bc5aae6e83da7b53a8ea662e99de7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4719/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-0.9_0.0_MultiDynamics_arc_8_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_472/meta.json b/RH5_dataset_threads_5000eps/frames/episode_472/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c13d65dd7a4dd641233a10fb122442c37540a5c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_472/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.2_0.0_MultiDynamics_arc_11_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4720/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a9a9ef4d4084c67260a6cd63b79ee9b6e4852b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4720/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.0_0.0_MultiDynamics_arc_9_0.261_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4721/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a105e2cf16e0236403d8b98fe4a73a14d213dda
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4721/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.1_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4722/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..404e4f4a0bc3ad0e253837afa99182d5c01984a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4722/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.2_0.0_MultiDynamics_arc_11_0.214_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4723/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a6cb92de92b16108978261836f388457437968
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4723/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.3_0.0_MultiDynamics_arc_12_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4724/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba83f03330f29f76af15e2c5f140f6d6687f7ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4724/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.4_0.0_MultiDynamics_arc_13_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4725/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cceefdc8ee9313bd0c054d11f6553ae3e5e0e6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4725/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.5_0.0_MultiDynamics_arc_14_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4726/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da923979003bf1830e53de46ae88cfdc12a71fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4726/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.6_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4727/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e331a26008a6b4cbf0370909531f5c0387b0955
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4727/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.7_0.0_MultiDynamics_arc_16_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4728/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42ee709ce0a0749ee6479c812fdea076a5208859
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4728/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.8_0.0_MultiDynamics_arc_17_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4729/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a8f197f48a93fd8ba4f77d44ac8ce5539c25ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4729/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-1.9_0.0_MultiDynamics_arc_18_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_473/meta.json b/RH5_dataset_threads_5000eps/frames/episode_473/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00d3b5a99506383cc78e9751713520223bdc3916
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_473/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.3_0.0_MultiDynamics_arc_12_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4730/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78560af27e9060f1f38e97ba00cf5d2da2e644b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4730/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.47,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_0.6_0.0_MultiDynamics_arc_5_0.470_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4731/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..755526a7671ab4fa29d5fe28dbdc7d4a35adf1a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4731/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_-2.0_0.0_MultiDynamics_arc_19_0.124_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4732/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..436d8282b1ebec71cf363735bad723158ebd07a2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4732/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.392:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.392,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_0.7_0.0_MultiDynamics_arc_6_0.392_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4733/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f623e262b84766e926ed2d98266b6f2b6365b854
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4733/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_0.8_0.0_MultiDynamics_arc_8_0.294_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4734/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275a89a283a4c7fb049cb579c3b881b9f7f74952
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4734/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_0.9_0.0_MultiDynamics_arc_8_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4735/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..018149610cb8351faca6cf5b69be6ff8d3ec14c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4735/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.261:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.261,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.0_0.0_MultiDynamics_arc_9_0.261_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4736/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..156b48eabf2f0faf0dcc33f0341d953886c6195e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4736/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.1_0.0_MultiDynamics_arc_11_0.214_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4737/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f21c4c7412d231ee9282d7be90ef55bc687ec264
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4737/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.214:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.214,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.2_0.0_MultiDynamics_arc_11_0.214_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4738/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59eb0e35641a69045c59b3acd6271616f6f48634
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4738/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.3_0.0_MultiDynamics_arc_12_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4739/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa268b0071d35ffadf385ac3c209c08fb9d6d580
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4739/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.4_0.0_MultiDynamics_arc_13_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_474/meta.json b/RH5_dataset_threads_5000eps/frames/episode_474/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6441e3ff1d883a98aacdb3860b2e2648e2388649
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_474/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.3_0.0_MultiDynamics_arc_12_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4740/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1071c688f39e0e710e43188d659b2fbc8c1be5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4740/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.5_0.0_MultiDynamics_arc_14_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4741/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c95d8727d69e7d923d815f28c8355b2915b498c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4741/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.6_0.0_MultiDynamics_arc_16_0.147_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4742/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..680aa9cfb06a7b2f806996d0f586ee6d717c9884
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4742/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.7_0.0_MultiDynamics_arc_16_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4743/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4d179aafd3a066015f371cae10c840406a31a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4743/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.8_0.0_MultiDynamics_arc_17_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4744/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d060ba4a73fb8b8dcf664ff20a8718c6c438fd9c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4744/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_1.9_0.0_MultiDynamics_arc_18_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4745/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4bb3525016068fe2122a5538dd109ce6886866
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4745/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-0.6_0.0_MultiDynamics_arc_5_0.490_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4746/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb4ae468751fd98a79f22777fe885c28908705e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4746/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.124:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.124,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.8_2.0_0.0_MultiDynamics_arc_19_0.124_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4747/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25fc7bad258fed8b19d1ed7a56e3e733833ab82d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4747/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-0.7_0.0_MultiDynamics_arc_6_0.408_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4748/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bdb6f34a144feb37bc4668b1d5e19b42a104449
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4748/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-0.8_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4749/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd4ee8e9816f7c2da8756870f8be351e883d1d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4749/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-0.9_0.0_MultiDynamics_arc_8_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_475/meta.json b/RH5_dataset_threads_5000eps/frames/episode_475/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa89cd1ade157504a6b574bcf2c1698c113d20f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_475/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-0.8_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4750/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfce614f7d9446ec5209b14464b0e13106ab6209
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4750/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.0_0.0_MultiDynamics_arc_9_0.272_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4751/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4dfb6ed1ff802690e883df1e905578787fb08d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4751/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.1_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4752/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc35d789a6778c36a94d9bad0e99ebf8e0e16d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4752/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.2_0.0_MultiDynamics_arc_11_0.223_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4753/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74d0d0b4f44ce326c7f8531899dda8df295a2a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4753/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.3_0.0_MultiDynamics_arc_12_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4754/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..492ddb614125d43a3002ae91fda63180b4f43930
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4754/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.4_0.0_MultiDynamics_arc_13_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4755/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3436e1bb5331ffe02e586621badcc8b0de494d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4755/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.5_0.0_MultiDynamics_arc_14_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4756/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9179de2c5857af0b55da3705f784f5fdc0e4ab2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4756/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.6_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4757/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bebc69eacab130eeb93f3fb820c532e695769ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4757/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.7_0.0_MultiDynamics_arc_16_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4758/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..add20eb63f7e1712d77435e3f7d0df2ef8e4b9e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4758/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.8_0.0_MultiDynamics_arc_17_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4759/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..335e65cc05ca63bdf632bab862e5e30aa49b7212
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4759/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-1.9_0.0_MultiDynamics_arc_18_0.136_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_476/meta.json b/RH5_dataset_threads_5000eps/frames/episode_476/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b79f4215ee16dd51c9aa2049aab95e193de206
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_476/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.4_0.0_MultiDynamics_arc_13_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4760/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2822326443904b2c695e3073be6c17e79aca8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4760/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.490:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.49,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_0.6_0.0_MultiDynamics_arc_5_0.490_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4761/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df054017b5d5374c2e02d83253bb4020647139d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4761/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_-2.0_0.0_MultiDynamics_arc_19_0.129_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4762/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d94aa0e62d8cbe40256a01fc4aed66e17c887524
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4762/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.408:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.408,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_0.7_0.0_MultiDynamics_arc_6_0.408_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4763/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08de31b9dc4ab5b0ee831f4c48c65fd272f35a9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4763/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_0.8_0.0_MultiDynamics_arc_8_0.306_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4764/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f43754eb5fb8b5ce5e40b42a9d337d2bf53744
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4764/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (2.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_0.9_0.0_MultiDynamics_arc_8_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4765/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3703e0072b5e52dcf984caa939bf919032e4362
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4765/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.272:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.272,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.0_0.0_MultiDynamics_arc_9_0.272_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4766/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa633b89cc560974f4e1919068fbacd3629b5854
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4766/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.1_0.0_MultiDynamics_arc_11_0.223_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4767/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afddd0949cd74b4b201cf7648ff0172980e2992b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4767/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.223:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.223,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.2_0.0_MultiDynamics_arc_11_0.223_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4768/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..645050fe6491e7a9f8d37f39b911541ce045e185
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4768/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.3_0.0_MultiDynamics_arc_12_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4769/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a0090d5ea6d48893b730463f80796604c6a224
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4769/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.4_0.0_MultiDynamics_arc_13_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_477/meta.json b/RH5_dataset_threads_5000eps/frames/episode_477/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1359c385b5d3173ee70ef055da52dd72ee2e4582
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_477/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.4_0.0_MultiDynamics_arc_13_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4770/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6bc8d75fcd1b34d1848246c124e16f5513b121
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4770/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.5_0.0_MultiDynamics_arc_14_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4771/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef98d84b2fc7960af6bb2b3f46bf91b0ea27b1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4771/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.6_0.0_MultiDynamics_arc_16_0.153_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4772/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..020f2644464c3c462b3a47443e71b2ab88c2312a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4772/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.7_0.0_MultiDynamics_arc_16_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4773/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba49690d581f4728aed56c0caf582990b5d63bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4773/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.8_0.0_MultiDynamics_arc_17_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4774/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fb16ff5502589b7cb3fdb9259abf8e36042dc7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4774/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.136:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.136,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (2.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_1.9_0.0_MultiDynamics_arc_18_0.136_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4775/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..984b1580fa36b96721ef4a7f02e78b57e08805cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4775/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4776/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b67643848d80d936bfd7f665326b580aabcecf2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4776/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.129:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (2.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_2.9_2.0_0.0_MultiDynamics_arc_19_0.129_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4777/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd607d95c5c8d14dd49abb873e160854ab76f96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4777/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-0.7_0.0_MultiDynamics_arc_6_0.425_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4778/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c0b1d91ca2c2b263ef195e9edd60f23d4ec29d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4778/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-0.8_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4779/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a34ced85427b47e0e22047190b0b307539d8910
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4779/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-0.9_0.0_MultiDynamics_arc_8_0.319_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_478/meta.json b/RH5_dataset_threads_5000eps/frames/episode_478/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a38bfc6a7983119d24a166618c3e82b595d3f57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_478/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-0.9_0.0_MultiDynamics_arc_8_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4780/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee073d0de792dd90556a1af75d7eeafc51e45a40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4780/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.0_0.0_MultiDynamics_arc_9_0.283_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4781/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd463178dd7a1bdf269320ab91581cae6f2a7cce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4781/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.1_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4782/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95994e763e0168e0afcce63b5ead1cb50bd4a63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4782/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.2_0.0_MultiDynamics_arc_11_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4783/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba55ee90b308c0ee7b0209a6373ff50e9596a8e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4783/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.3_0.0_MultiDynamics_arc_12_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4784/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..377469aa01f6269c4854e62edd8a21126633c755
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4784/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.4_0.0_MultiDynamics_arc_13_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4785/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..430c64e015faa263f3385385b13e14a7e5ebecd1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4785/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.5_0.0_MultiDynamics_arc_14_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4786/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a23ff711b8c4924077fde390c08bd7496351446
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4786/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.6_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4787/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a8c99b2dc403c5978c7e53e38ea098ce0dc26f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4787/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.7_0.0_MultiDynamics_arc_16_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4788/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0a933e3b0ae50abb74ed0effcc9dbdc50aff3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4788/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.8_0.0_MultiDynamics_arc_17_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4789/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7beff612730d12c90f02d7ae190615a0efa1211
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4789/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-1.9_0.0_MultiDynamics_arc_18_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_479/meta.json b/RH5_dataset_threads_5000eps/frames/episode_479/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a64b9120b13e8eb674df74c48da9b85a3af798
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_479/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.5_0.0_MultiDynamics_arc_14_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4790/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc03b42e5118ad6e99d166b621f13b4a0d6de0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4790/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4791/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ceb0d0a865620cc33fa9956c161049b8eb2ba2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4791/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_-2.0_0.0_MultiDynamics_arc_19_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4792/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0998b4bb5111e42520c1384ac2a912a61bad48
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4792/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.425:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.425,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_0.7_0.0_MultiDynamics_arc_6_0.425_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4793/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03352e989c8aec543854b5783d7c1200e25e9e33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4793/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_0.8_0.0_MultiDynamics_arc_8_0.319_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4794/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4ce3f989bc62316f3c28c6232c49fccbbe9fa1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4794/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.319:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.319,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_0.9_0.0_MultiDynamics_arc_8_0.319_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4795/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f67694b581c1e69e50c2127ddfaf7644826ef1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4795/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.283:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.283,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.0_0.0_MultiDynamics_arc_9_0.283_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4796/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a402ebfdef4384a3f6058bdf08e6f72cffa7d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4796/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.1_0.0_MultiDynamics_arc_11_0.232_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4797/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d757a6271abb9e69afc076d60f1785026ee444
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4797/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.2_0.0_MultiDynamics_arc_11_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4798/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a998e48879a1463198efdbde021d255d70ec2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4798/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.3_0.0_MultiDynamics_arc_12_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4799/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a456e69b84763f23166bca037738e7c78b4871d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4799/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.4_0.0_MultiDynamics_arc_13_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_48/meta.json b/RH5_dataset_threads_5000eps/frames/episode_48/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97d76d8f3526c54a1cee794583314c6b27af363
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_48/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_2.9_0.0_0.0_MultiDynamics_4_0.585_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_480/meta.json b/RH5_dataset_threads_5000eps/frames/episode_480/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a39d514a4214c616529d49e52ee45e80683d7b47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_480/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.5_0.0_MultiDynamics_arc_14_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4800/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..612b29eb7d5ac6a7e0e06f96d282b8598ccc36f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4800/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.5_0.0_MultiDynamics_arc_14_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4801/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd62f418106972cba92a67b50f60d20d220f678
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4801/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.6_0.0_MultiDynamics_arc_16_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4802/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca69ec48a16b1a058565a888350eb5bec3767934
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4802/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.7_0.0_MultiDynamics_arc_16_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4803/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a85c66fabdeef0c385ec8e4c8aec56cc35693e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4803/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.8_0.0_MultiDynamics_arc_17_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4804/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f3348c4085e82bef7903aee225892606613f88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4804/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_1.9_0.0_MultiDynamics_arc_18_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4805/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22b388eb77bdc971768275096808e0944ed59cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4805/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4806/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15809e8999d21fd4429d58c8f98d04ca5d9c6087
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4806/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.0_2.0_0.0_MultiDynamics_arc_19_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4807/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e19d4e51626a0d14ac3936ddcf5e9fd72733e63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4807/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-0.7_0.0_MultiDynamics_arc_6_0.442_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4808/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6b71fab4f19958dae1edef095db28a35db5180
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4808/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-0.8_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4809/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..664d768c55f3d7c81f75f471607a3b433f4778fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4809/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-0.9_0.0_MultiDynamics_arc_8_0.331_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_481/meta.json b/RH5_dataset_threads_5000eps/frames/episode_481/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e2cd017f14cd15ce42fe00dd9bf786dfe8a325
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_481/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.6_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4810/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41e3f69b6e26191e2b79c420d6364736166afb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4810/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.0_0.0_MultiDynamics_arc_9_0.294_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4811/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eebb914f07643dcdaf47bcb3e0afe02523a0ffe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4811/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.1_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4812/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87416706722a87b1ce9f47f3c3c41fe7d49286b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4812/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.2_0.0_MultiDynamics_arc_11_0.241_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4813/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ffe6d84fbcf5f536e99b5b51f7700541d026c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4813/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.3_0.0_MultiDynamics_arc_12_0.221_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4814/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae6c48fb3133b475c4acdd101d9f742272c9a6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4814/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.4_0.0_MultiDynamics_arc_13_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4815/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..632c300f30d81bc76d25e206b1973f3101fa5c34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4815/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.5_0.0_MultiDynamics_arc_14_0.189_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4816/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40f362492d7f44c25b731b7115b77c9275159a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4816/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.6_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4817/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb43a1939a50c04e6e1df1584e79a64af2cff40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4817/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.7_0.0_MultiDynamics_arc_16_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4818/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea762a938e83e82d406c08a9e3c99be2fd30341
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4818/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.8_0.0_MultiDynamics_arc_17_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4819/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76718919b266d3ead09378e489216bdb38636bfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4819/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-1.9_0.0_MultiDynamics_arc_18_0.147_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_482/meta.json b/RH5_dataset_threads_5000eps/frames/episode_482/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9a90b7cf0a3e287027c2d9d30d8525a14fd287
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_482/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.0_0.0_MultiDynamics_arc_9_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4820/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9b9ce98c787dbef0b80b67235481f938fcfcbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4820/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4821/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d061a5b90e053c1a740ebaeda5f1ae45c31c8640
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4821/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_-2.0_0.0_MultiDynamics_arc_19_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4822/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da0c92eba386505c9692759b90d2603ac4b861d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4822/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.442:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.442,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_0.7_0.0_MultiDynamics_arc_6_0.442_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4823/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb32cc9e589ca3f6315800f33a4dfd9b608d2b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4823/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_0.8_0.0_MultiDynamics_arc_8_0.331_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4824/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1f9642987c26fdfe0f36278aed728228f6558b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4824/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.331:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.331,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_0.9_0.0_MultiDynamics_arc_8_0.331_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4825/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79edd6cedb268648c30ef1c514714cafcb953798
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4825/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.294:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.294,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.0_0.0_MultiDynamics_arc_9_0.294_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4826/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51fea9de053e21683bf3a4dcc76715ced1d6aa43
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4826/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.1_0.0_MultiDynamics_arc_11_0.241_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4827/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bccfeff99783dc49faf64d2f932f46942a459fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4827/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.241:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.241,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.2_0.0_MultiDynamics_arc_11_0.241_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4828/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c1f94f569129c3c6e7cc518ef45236bfa3e687
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4828/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.221:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.221,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.3_0.0_MultiDynamics_arc_12_0.221_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4829/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d151fdc5e4203d2210c8d95c40bb9541b51c03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4829/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.4_0.0_MultiDynamics_arc_13_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_483/meta.json b/RH5_dataset_threads_5000eps/frames/episode_483/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d3306328096854f117f46abf767874f1eb4195
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_483/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.6_0.0_MultiDynamics_arc_16_0.034_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4830/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..989f20f684bb68ad33987a992b12a2e29cd94e7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4830/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.189:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.189,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.5_0.0_MultiDynamics_arc_14_0.189_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4831/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..418618c345ad60ff06c6aeece423dd6976a03c83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4831/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.6_0.0_MultiDynamics_arc_16_0.166_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4832/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f925c003eb829015316efdee5fc4f34af738e8e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4832/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.7_0.0_MultiDynamics_arc_16_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4833/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bec90054b37d7cb28a48a654e67818858bfc5a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4833/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.8_0.0_MultiDynamics_arc_17_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4834/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ce9e11e7218ff92ca7f1b5edced2148081e2e07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4834/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.147:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.147,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_1.9_0.0_MultiDynamics_arc_18_0.147_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4835/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fe158d8d1a9037840587befedce0d5bf824fde
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4835/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4836/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dff40f42424d8710351c6158917635e4ac5fde4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4836/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.1_2.0_0.0_MultiDynamics_arc_19_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4837/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..226dc3b82b444b2db914a528937eb0fbc33d18a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4837/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-0.7_0.0_MultiDynamics_arc_6_0.458_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4838/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ebbe958d5f1b46a86b31c20e412db05a88db60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4838/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-0.8_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4839/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6564e3fc399176dfcf015bc0c6d5ed51d335fee8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4839/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-0.9_0.0_MultiDynamics_arc_8_0.344_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_484/meta.json b/RH5_dataset_threads_5000eps/frames/episode_484/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c67eda77c31889c3be28c3735f5d48a6b45b2f20
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_484/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.7_0.0_MultiDynamics_arc_16_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4840/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7617f85b25c0e5b064f5dfb40683492ab5751df9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4840/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.0_0.0_MultiDynamics_arc_9_0.306_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4841/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4952a0e3ff226c80f7941ef4740c9085450ffe3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4841/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.1_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4842/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c06e253cb70e6e5a37e9f73079e94fb8ffcdfed9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4842/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.2_0.0_MultiDynamics_arc_11_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4843/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64897f689f880712958d37aa794a94721f4a790
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4843/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.3_0.0_MultiDynamics_arc_12_0.229_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4844/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fdd9327cba0502ff9db2da6e2d3bbdd53b19d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4844/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.4_0.0_MultiDynamics_arc_13_0.212_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4845/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da43bd2531f8ddf8e3bba1402524509781fe6038
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4845/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.5_0.0_MultiDynamics_arc_14_0.196_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4846/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6627823449179ed7601ce4928d821ea7da3b08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4846/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.6_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4847/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..742aae87155fbd597df75eff8d16b463f80e7537
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4847/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.7_0.0_MultiDynamics_arc_16_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4848/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e511ca2daff29563181f0f19afebdd301b0f7da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4848/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.8_0.0_MultiDynamics_arc_17_0.162_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4849/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4c2e3c94636185ff0c8e1273007c7c9158152e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4849/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-1.9_0.0_MultiDynamics_arc_18_0.153_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_485/meta.json b/RH5_dataset_threads_5000eps/frames/episode_485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8eaff111051d77004f1cc72cf911523e99e6267
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_485/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.7_0.0_MultiDynamics_arc_16_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4850/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..059b25decc4ad41acc62b2a7edc041ba7682b361
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4850/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4851/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..889523c05cfae61597d01f9556cdb0099e4a9076
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4851/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_-2.0_0.0_MultiDynamics_arc_19_0.145_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4852/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68e34dcac6ac21f72afe378219358df4c40f887
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4852/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.458:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.458,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_0.7_0.0_MultiDynamics_arc_6_0.458_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4853/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9fcc9c0db0d54429a3ab3ccc7f55a5ee259f9e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4853/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_0.8_0.0_MultiDynamics_arc_8_0.344_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4854/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a98ce68ecb6619c0954a7467013a553cfe01982a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4854/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.344:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.344,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_0.9_0.0_MultiDynamics_arc_8_0.344_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4855/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7904007e8c90abb4536b42a84148e8bb3d9b9696
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4855/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.306:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.306,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.0_0.0_MultiDynamics_arc_9_0.306_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4856/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84327a175f7a4b1461d9a0493b8828d4003b71df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4856/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.1_0.0_MultiDynamics_arc_11_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4857/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d265d08b8c60c014436114a90b309f53ef9571
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4857/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.2_0.0_MultiDynamics_arc_11_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4858/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba42ea9139f233e99805545dcdfc80487e4954b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4858/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.229:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.229,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.3_0.0_MultiDynamics_arc_12_0.229_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4859/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9fa2f09272fd0dff0ffd09125b44ad1677f81f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4859/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.212:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.212,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.4_0.0_MultiDynamics_arc_13_0.212_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_486/meta.json b/RH5_dataset_threads_5000eps/frames/episode_486/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e09ab27c3845a315fd368328398197d0e7dc74
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_486/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.1_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4860/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf0eec0aa7cdfd12662b28d51ff355b8ddebc68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4860/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.196:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.196,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.5_0.0_MultiDynamics_arc_14_0.196_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4861/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27fb7b3286cc3d35238f026600a5cd584c11e133
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4861/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.6_0.0_MultiDynamics_arc_16_0.172_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4862/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b925260cef188cb9c17ef2ba770db76397587cc8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4862/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.7_0.0_MultiDynamics_arc_16_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4863/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f5555441cdd77262e26503e2fb3cde102d09302
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4863/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.162:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.162,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.8_0.0_MultiDynamics_arc_17_0.162_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4864/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff858b6a283da0bdc48524e771cacfb41e94b78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4864/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.153:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.153,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_1.9_0.0_MultiDynamics_arc_18_0.153_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4865/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b05264ee7eb4ddb70b0b5cd7e840dee78bdb0b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4865/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4866/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4963b5a432a39a2d3aa085ff70be6d8dc650b925
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4866/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.145:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.145,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.2_2.0_0.0_MultiDynamics_arc_19_0.145_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4867/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a8d53b70420fe9558cecf4e0923c9096243130
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4867/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-0.7_0.0_MultiDynamics_arc_6_0.475_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4868/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33abbedf83d710268c0b4efca2747e70e0eaac9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4868/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-0.8_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4869/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f3e6cdd18f19c03210c498e8263b6f7b1b0704
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4869/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-0.9_0.0_MultiDynamics_arc_8_0.356_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_487/meta.json b/RH5_dataset_threads_5000eps/frames/episode_487/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ac5b53bd16230768feaa245017adf7d8a5a46c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_487/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.8_0.0_MultiDynamics_arc_17_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4870/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1702b494c8163ebce271381786bfdb691644477f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4870/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.0_0.0_MultiDynamics_arc_9_0.317_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4871/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a92fa49f1a1ec5f8c89e7bfa268ec560a9521b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4871/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.1_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4872/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c39d495d5962cf4d97e91ae5184a69e2937730
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4872/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.2_0.0_MultiDynamics_arc_11_0.259_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4873/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5a1536d0380d80ae52f58c3b5bb6f10365d705
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4873/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.3_0.0_MultiDynamics_arc_12_0.237_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4874/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ee4e8665583fb8b83c52dc97ae466fb8cab19cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4874/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.4_0.0_MultiDynamics_arc_13_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4875/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f0db808aaac8b6519d3c612b22874d71970e430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4875/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.5_0.0_MultiDynamics_arc_14_0.204_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4876/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e088299a419dd8a6d9f95cad4d74f04807939e6c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4876/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.6_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4877/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..478b41edac8656179fc7965066abc6e1c3ea5521
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4877/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.7_0.0_MultiDynamics_arc_16_0.178_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4878/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9241ba42a5fe07457752f30f3c62ff7a46a66b4b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4878/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.8_0.0_MultiDynamics_arc_17_0.168_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4879/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f34d5238f388e172047759eb0625566a9f4ce3bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4879/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-1.9_0.0_MultiDynamics_arc_18_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_488/meta.json b/RH5_dataset_threads_5000eps/frames/episode_488/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6fdf1f5081a07a65972171079f42aff5840776
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_488/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.8_0.0_MultiDynamics_arc_17_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4880/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..461531ef1edfcf13dda55840790768f48a80647c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4880/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4881/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e914cff34cf4210a1a4a5ec596eb814dc6636c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4881/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_-2.0_0.0_MultiDynamics_arc_19_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4882/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c43232df073a1bd25ee77ae98f405d6db5e1083
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4882/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.475:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.475,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_0.7_0.0_MultiDynamics_arc_6_0.475_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4883/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..584354f3e0e885e731d74636db82650e38b275c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4883/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_0.8_0.0_MultiDynamics_arc_8_0.356_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4884/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4cf25b22f9eb4a5a2b6b762079affd4fe05b671
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4884/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.356:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.356,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_0.9_0.0_MultiDynamics_arc_8_0.356_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4885/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..188aa7225294ad00689a81165c58f168e4badac5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4885/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.317:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.317,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.0_0.0_MultiDynamics_arc_9_0.317_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4886/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be380995328a61aa96218f0b35cceb2d7c0b6992
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4886/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.1_0.0_MultiDynamics_arc_11_0.259_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4887/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9c9c175a42bc11fa032d082dab8ba9fb7b17d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4887/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.259:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.259,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.2_0.0_MultiDynamics_arc_11_0.259_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4888/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d0195921c168e069a4e61d0d06f0dcf1d2d2fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4888/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.237:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.237,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.3_0.0_MultiDynamics_arc_12_0.237_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4889/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2be279a0899b4c341e60a47c632835eaacf4be4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4889/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.4_0.0_MultiDynamics_arc_13_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_489/meta.json b/RH5_dataset_threads_5000eps/frames/episode_489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc63b81caaa3d17d43a726accdd8216a341ab6fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_489/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_1.9_0.0_MultiDynamics_arc_18_0.031_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4890/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd4e48138e6ee944c70d993ff50f22f2edba169
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4890/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.204:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.204,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.5_0.0_MultiDynamics_arc_14_0.204_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4891/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..112aa8d7686253a1252d074f8f3953bf83236fef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4891/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.6_0.0_MultiDynamics_arc_16_0.178_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4892/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..061924ff25c3139659803cadf47dbc66c854ad78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4892/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.178:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.178,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.7_0.0_MultiDynamics_arc_16_0.178_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4893/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed4e9a8f2df3a6f321cf45813bce59964516da1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4893/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.168:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.8_0.0_MultiDynamics_arc_17_0.168_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4894/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b487550080a306d3fbb8f459f1c9b27fdfd774
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4894/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_1.9_0.0_MultiDynamics_arc_18_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4895/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15c61707422e4cca6350f9256faf9427bcf210b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4895/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4896/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad45a6048e43978825ef82a3529e5d5603fa9ca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4896/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.3_2.0_0.0_MultiDynamics_arc_19_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4897/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe04d598ec783ee1e31281e6f21b9d8800a615ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4897/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-0.7_0.0_MultiDynamics_arc_6_0.492_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4898/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6d462025682059a60e677406216a62a0ba4e67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4898/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-0.8_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4899/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26bdb13c65beb74a2a26de782f87fd1b41d29049
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4899/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-0.9_0.0_MultiDynamics_arc_8_0.369_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_49/meta.json b/RH5_dataset_threads_5000eps/frames/episode_49/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f8312f1300aa77855b4d9680638b22031f6e988
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_49/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.0_0.0_0.0_MultiDynamics_4_0.610_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_490/meta.json b/RH5_dataset_threads_5000eps/frames/episode_490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5c006838badcee978c0e884b0ff6b785431d55
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_490/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.031:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.031,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-1.9_0.0_MultiDynamics_arc_18_0.031_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4900/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19045c8f993138990a85b1c6d5fcdee5d8fc63d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4900/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.0_0.0_MultiDynamics_arc_9_0.328_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4901/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35eab939f2e12a2fe28c9c08578f307f03f6660d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4901/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.1_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4902/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae971843e93d874c0b0940f6b67825ab2620747
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4902/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.2_0.0_MultiDynamics_arc_11_0.268_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4903/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d99119ec4fd069c27d387ea268ef7ff98c2d7d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4903/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.3_0.0_MultiDynamics_arc_12_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4904/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38cd8c4168dd862f9f3d7844de018ffbb9667705
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4904/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.4_0.0_MultiDynamics_arc_13_0.227_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4905/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6c5f7be17ec48a888fe7bde959e9b3b2a59bc0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4905/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.5_0.0_MultiDynamics_arc_14_0.211_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4906/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c49065b5eba49db7ef7df0f1a2b9ce3ee84b070
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4906/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.6_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4907/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38f19f33a34859797dbc0035056130c9b3d0a40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4907/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.7_0.0_MultiDynamics_arc_16_0.184_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4908/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3127dbf2001fd6bf941bdc53ba9db98eeaa69f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4908/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.8_0.0_MultiDynamics_arc_17_0.174_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4909/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64c491a57fc6fff5d16f06003f2a03a7f5f25488
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4909/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-1.9_0.0_MultiDynamics_arc_18_0.164_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_491/meta.json b/RH5_dataset_threads_5000eps/frames/episode_491/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9815d4f12b51627e2f07698730418bbcb29bc3c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_491/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.2_0.0_MultiDynamics_arc_11_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4910/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf817448ccdece305cc4c2f8fe013e1f8094ddad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4910/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4911/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fde6549da10ff1aad9e883daf1b7d6d415050dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4911/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_-2.0_0.0_MultiDynamics_arc_19_0.155_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4912/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..922096b8e54295de6d9c854b08ed1f8769b90978
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4912/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.492:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.492,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_0.7_0.0_MultiDynamics_arc_6_0.492_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4913/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a8bb7bed28452900a1830f1a6f4c0bcf8f6040
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4913/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_0.8_0.0_MultiDynamics_arc_8_0.369_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4914/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec420106d31589cbf9671412a2a69964b748bf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4914/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.369:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.369,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_0.9_0.0_MultiDynamics_arc_8_0.369_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4915/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1475ad85bb5aa11e2cbc692b2a751b36defb806
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4915/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.328:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.328,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.0_0.0_MultiDynamics_arc_9_0.328_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4916/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43826325ad6190d6095a198e472fbf2f06d5b5c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4916/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.1_0.0_MultiDynamics_arc_11_0.268_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4917/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e92cb8ed65099199b312b4ab2b9b17ad2269422
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4917/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.268:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.268,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.2_0.0_MultiDynamics_arc_11_0.268_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4918/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..153a5bff30c152a4080a4da2fcc7ed01e3d6d82c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4918/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.3_0.0_MultiDynamics_arc_12_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4919/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78c27070ca19c32829cbf2fa19d212abc19bd11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4919/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.227:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.227,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.4_0.0_MultiDynamics_arc_13_0.227_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_492/meta.json b/RH5_dataset_threads_5000eps/frames/episode_492/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a073db192303689cdfe72366782a817477343da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_492/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_-2.0_0.0_MultiDynamics_arc_19_0.029_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4920/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..218190d6985cc26563eb4eebdf68695742c9ca56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4920/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.211:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.211,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.5_0.0_MultiDynamics_arc_14_0.211_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4921/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9ad8bc20e2fede54c2e1d91d455e4d24708a3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4921/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.6_0.0_MultiDynamics_arc_16_0.184_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4922/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d5f1c1cd37e8682d414efd16b837966827fe7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4922/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.184:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.184,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.7_0.0_MultiDynamics_arc_16_0.184_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4923/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a30fbc2eaaa462ce056cbc971888b24aa140adc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4923/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.174:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.174,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.8_0.0_MultiDynamics_arc_17_0.174_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4924/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..476f054349168f9f09d15e709633f6951aa5e15d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4924/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.164:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.164,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_1.9_0.0_MultiDynamics_arc_18_0.164_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4925/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea8edcc085df9e0ea1ef699e008b36259aac489
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4925/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4926/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59508c20e8027c4a5c811ca1ba69e119c044402
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4926/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.155:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.155,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.4_2.0_0.0_MultiDynamics_arc_19_0.155_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4927/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff108f28df2c4295481872eda2e9148e601c8ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4927/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4928/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e08d5bed872d867fb2690b08c0291742481cb97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4928/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-0.8_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4929/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a691eff0af5c04ef28970aa1aa531542e65d541b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4929/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-0.9_0.0_MultiDynamics_arc_8_0.381_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_493/meta.json b/RH5_dataset_threads_5000eps/frames/episode_493/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0157ea40eddc679b342961db94fa921650079b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_493/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.029:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.029,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.0_2.0_0.0_MultiDynamics_arc_19_0.029_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4930/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f4077a35ada3e7e9ad3c4b9bd5726576ba40a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4930/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.0_0.0_MultiDynamics_arc_9_0.339_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4931/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58aa90d9237b2ada8f80f4b8c0e4f1a3948621d6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4931/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.1_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4932/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9a6b4d2c434279ae6b913837a995483527a8489
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4932/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.2_0.0_MultiDynamics_arc_11_0.277_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4933/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f2129e4c1e2f8ec9e283a4e28ca2336bcd0e40
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4933/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.3_0.0_MultiDynamics_arc_12_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4934/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e518f2f4e42d3e17bfc17dbb1312f705fd945da9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4934/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.4_0.0_MultiDynamics_arc_13_0.235_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4935/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7236fc89cf7563c98ece658dca28d310cee38a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4935/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.5_0.0_MultiDynamics_arc_14_0.218_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4936/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbb782f07e41363988e57b0ef21940b3c3720195
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4936/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.6_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4937/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6ccf0db37491ce4c337c090a77143d3b954ed9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4937/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.7_0.0_MultiDynamics_arc_16_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4938/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4efff7e9b2a0593585fbbe9c3c4c4f7159c93c73
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4938/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.8_0.0_MultiDynamics_arc_17_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4939/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e139a19fdc7e2a4d5c57fb8659c503640c9787bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4939/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-1.9_0.0_MultiDynamics_arc_18_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_494/meta.json b/RH5_dataset_threads_5000eps/frames/episode_494/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49cca03dfcfdf10cd4adf7091cf66645f374fa0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_494/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.3_0.0_MultiDynamics_arc_12_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4940/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff58ecf6aedc68973532dbc08436eaea3c689b18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4940/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4941/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b723c834d312ba38a4109f04d017c73159ccc33
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4941/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_-2.0_0.0_MultiDynamics_arc_19_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4942/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcf719ff7dd982725fe38ad545aaa698398dce0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4942/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4943/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e82da7b4bb22e633cab73cddbdd7e5c9d2c849
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4943/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_0.8_0.0_MultiDynamics_arc_8_0.381_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4944/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c69737ed850dd20d9a81edaf4e5316cf1b5abfed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4944/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.381:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.381,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_0.9_0.0_MultiDynamics_arc_8_0.381_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4945/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa87d2a8c7206d197adcb07b628b803528781e3d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4945/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.339:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.339,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.0_0.0_MultiDynamics_arc_9_0.339_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4946/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a7f4e48aa9100895559e8c4b136ca973b7f547
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4946/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.1_0.0_MultiDynamics_arc_11_0.277_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4947/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..474e8858eff3f84e5f120bde29e8584cdde3318f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4947/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.277:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.277,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.2_0.0_MultiDynamics_arc_11_0.277_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4948/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0723287bdd96af33a136fb32f99d8900b8055c58
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4948/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.3_0.0_MultiDynamics_arc_12_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4949/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fac8a9c3ffb49986d633616216c54df276fa258
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4949/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.235:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.235,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.4_0.0_MultiDynamics_arc_13_0.235_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_495/meta.json b/RH5_dataset_threads_5000eps/frames/episode_495/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f404faea6555fd182ab7d989457085817263932
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_495/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.130:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.13,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_0.6_0.0_MultiDynamics_arc_5_0.130_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4950/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b64285cf1c118bd35feb8fa7a80497e862f6a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4950/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.218:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.218,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.5_0.0_MultiDynamics_arc_14_0.218_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4951/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4d06f8400e73647bbb5c30bf1b930c8707da228
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4951/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.6_0.0_MultiDynamics_arc_16_0.191_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4952/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea3aa175995179de4343a399c843c63fe29cd348
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4952/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.7_0.0_MultiDynamics_arc_16_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4953/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceeb2d3109deedc3aa918284373a3f027863b67b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4953/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.8_0.0_MultiDynamics_arc_17_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4954/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ec121e006d3d5c99f111198a59b52ec4742ec0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4954/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_1.9_0.0_MultiDynamics_arc_18_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4955/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59100945e5e8259bed9ebaa3fd67886078ad2ce7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4955/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4956/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..187a866d7abb61a50c4155cf9d77df1e8bbad87a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4956/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.5_2.0_0.0_MultiDynamics_arc_19_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4957/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2e5cab6df001804bfa7647e19c89676c1209ef7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4957/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4958/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc26f540a57e25c1809124f34ef906d5e2410473
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4958/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-0.8_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4959/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43dcbab06d71ec105cef6e88abaaa83b70df2434
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4959/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-0.9_0.0_MultiDynamics_arc_8_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_496/meta.json b/RH5_dataset_threads_5000eps/frames/episode_496/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1fe1fe5dc3fb87255faa501e4effa6a65c54a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_496/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.4_0.0_MultiDynamics_arc_13_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4960/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca0e9a3d37c8d9ca4582361692b712f3a6dbb63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4960/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.0_0.0_MultiDynamics_arc_9_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4961/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d14138180271c4a5a97733008b10f7c5971487
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4961/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.1_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4962/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bcf722737e615c78fb224fba5bad6d79c22d068
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4962/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.2_0.0_MultiDynamics_arc_11_0.286_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4963/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf17beeab5cfb4844abfb060f4ab302330ef312
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4963/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.3_0.0_MultiDynamics_arc_12_0.263_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4964/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af5996c6e6ed5ccb6f4d639162ca9bf52e29745b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4964/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.4_0.0_MultiDynamics_arc_13_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4965/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d13e96260304640c079d37f0c1226d0461fdc0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4965/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.5_0.0_MultiDynamics_arc_14_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4966/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c827d81d171616e6a24483b5921cc31b5501db45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4966/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.6_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4967/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b962353ece1e4e2b927ff5e790a3f7ecf44a82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4967/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.7_0.0_MultiDynamics_arc_16_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4968/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9f2938149d974549c5934ff2c13c400ce2644f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4968/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.8_0.0_MultiDynamics_arc_17_0.185_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4969/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..589a0888975b34b853f3c94dcd226feb6287d564
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4969/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-1.9_0.0_MultiDynamics_arc_18_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_497/meta.json b/RH5_dataset_threads_5000eps/frames/episode_497/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3dd7329870081f949c3ea9fd8d80efecb6de7e5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_497/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.5_0.0_MultiDynamics_arc_14_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4970/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6584b14ece091959c8df6a8274e847300611eab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4970/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4971/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc34670234484e04d121317af7a0fa6465f85272
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4971/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_-2.0_0.0_MultiDynamics_arc_19_0.166_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4972/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0c3cb8badb361ff2213881bb41630e7c086fa3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4972/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4973/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b2c8f4d40ef9ecf77150742419bfc53c581e36c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4973/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_0.8_0.0_MultiDynamics_arc_8_0.394_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4974/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0675e183746653a24f89de93656f3dbde4751976
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4974/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_0.9_0.0_MultiDynamics_arc_8_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4975/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a791ffb437204ef5e6aa6cc2d8ecbe6b99c7ad65
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4975/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.0_0.0_MultiDynamics_arc_9_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4976/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..086923154cc42f6781a541332edf6f7150299b11
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4976/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.1_0.0_MultiDynamics_arc_11_0.286_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4977/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..555c183041a806fe1623114f832a642b920f13f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4977/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.286:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.286,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.2_0.0_MultiDynamics_arc_11_0.286_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4978/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dda824a5759707b71604ee7482c9c57fb83aada
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4978/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.263:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.263,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.3_0.0_MultiDynamics_arc_12_0.263_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4979/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a116ae1d610f9620bc671e54c294d803cd3278
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4979/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.4_0.0_MultiDynamics_arc_13_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_498/meta.json b/RH5_dataset_threads_5000eps/frames/episode_498/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe9e5faacbd7d6f8d50f7b99f612ac53ef5e3769
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_498/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_0.7_0.0_MultiDynamics_arc_6_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4980/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f458f0230819bcfdc64b110bcb9b4604c8bc1db9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4980/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.5_0.0_MultiDynamics_arc_14_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4981/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f4033cc3b100b225add14621bb5c5cdf6cbab8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4981/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.6_0.0_MultiDynamics_arc_16_0.197_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4982/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11c433a75b005c613f7c5f982dff1a0fe2ca1a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4982/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.7_0.0_MultiDynamics_arc_16_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4983/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58b8dc607a836bc61d08a4be4db805530c364fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4983/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.185:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.185,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.8_0.0_MultiDynamics_arc_17_0.185_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4984/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d92cf8812446c65695e29fae68d6873b17f7d10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4984/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_1.9_0.0_MultiDynamics_arc_18_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4985/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d952095918a5cfc35844dc5b31867d2b08137a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4985/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4986/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20eb453eef9507c4395908c660c3d817ce17b2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4986/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.166:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.166,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.6_2.0_0.0_MultiDynamics_arc_19_0.166_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4987/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6a30f576c967269608b3ee461657a6c4cc0c23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4987/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.250:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.250_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4988/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9faab22224ee7e49e3a71e7fda71af9fa5fc15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4988/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-0.8_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4989/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abff0a37141e81f7682a8f232d5ed500ddc625de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4989/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-0.9_0.0_MultiDynamics_arc_8_0.406_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_499/meta.json b/RH5_dataset_threads_5000eps/frames/episode_499/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abaa7f217f344c80f54e94217a9bae5fb99f9f16
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_499/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.6_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4990/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93a685d248e29d311071efc500eab2537b1d107
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4990/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.0_0.0_MultiDynamics_arc_9_0.361_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4991/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2763f81c218e1d48a759f89e5bfaf8356c87dc87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4991/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.1_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4992/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae8cb232b990396873e8c5f3900534698823a3e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4992/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.2_0.0_MultiDynamics_arc_11_0.295_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4993/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4993/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..918c551cfd5cc3cb5e342ec9b2373c2b14d59992
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4993/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.3_0.0_MultiDynamics_arc_12_0.271_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4994/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4994/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d8c1fcf79718226a7e6080963386f5ad960038d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4994/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.4_0.0_MultiDynamics_arc_13_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4995/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4995/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57950f3f5fc95bbacd0a1c8fc1e9d8607652342f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4995/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.5_0.0_MultiDynamics_arc_14_0.232_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4996/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4996/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d637d165016022e787524ab637df83488c2dcf97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4996/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.6_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4997/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4997/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ad9b08f4e9dfedafa5cc9c82f0515ef69dce59
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4997/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.7_0.0_MultiDynamics_arc_16_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4998/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4998/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3835ab01a5fd319166a62501820c4116cf06bb85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4998/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.8_0.0_MultiDynamics_arc_17_0.191_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_4999/meta.json b/RH5_dataset_threads_5000eps/frames/episode_4999/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8659d1912704321a0b101be863b21e3c0ce5b58c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_4999/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-1.9_0.0_MultiDynamics_arc_18_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe20596426ba5c7f988cf9f00c8ab22a342aa399
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_1.0_0.0_0.0_MultiDynamics_1_0.402_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_50/meta.json b/RH5_dataset_threads_5000eps/frames/episode_50/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8d1038d6dd2f3ddfbd0349c0427cc4b5c020ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_50/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.1_0.0_0.0_MultiDynamics_5_0.508_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_500/meta.json b/RH5_dataset_threads_5000eps/frames/episode_500/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea97b665408959bf26da67f49db05e54ee06a7f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_500/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_0.8_0.0_MultiDynamics_arc_8_0.081_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5000/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e6f99e0820926844ed57cd005f95f3cd70e96d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5000/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5001/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe7a15f9de0ef49f8c5d3c661d7537e6180dcac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5001/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_-2.0_0.0_MultiDynamics_arc_19_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5002/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be3dd8e9dbbd15726e91080e9e7c1df60f4132c3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5002/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.250:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.250_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5003/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d58f607b6bdca5019f0a0ea3dfaf1169f55f9f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5003/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_0.8_0.0_MultiDynamics_arc_8_0.406_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5004/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52671d47515cb3feb335fa118a126403266480d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5004/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.406:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.406,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_0.9_0.0_MultiDynamics_arc_8_0.406_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5005/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..819de8c20e0b8079282bd170acb45fbeea5a9204
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5005/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.361:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.361,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.0_0.0_MultiDynamics_arc_9_0.361_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5006/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba65df931d12857fd21f5ae38edbb9a6deb6055
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5006/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.1_0.0_MultiDynamics_arc_11_0.295_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5007/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0af46329377631bb40aedb7d80b6815b9f551fc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5007/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.295:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.295,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.2_0.0_MultiDynamics_arc_11_0.295_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5008/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..363e06f2da1ddd3141aa1901c50ccfb6c79ae7cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5008/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.271:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.271,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.3_0.0_MultiDynamics_arc_12_0.271_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5009/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54880ee2e9761b3cadf214093daddb533e3e5695
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5009/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.4_0.0_MultiDynamics_arc_13_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_501/meta.json b/RH5_dataset_threads_5000eps/frames/episode_501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f98fc3487ecf6e1743f6b1c136061bc8b601fa4c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_501/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.7_0.0_MultiDynamics_arc_16_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5010/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80fbfa8e1860087895289e53aeeee2049a38ea72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5010/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.232:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.232,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.5_0.0_MultiDynamics_arc_14_0.232_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5011/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edae262aabb69488b81f18988bf4e2aa26f60c36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5011/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.6_0.0_MultiDynamics_arc_16_0.203_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5012/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61a66ea114b3beda989eea8fe9c4af0a08799f89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5012/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.7_0.0_MultiDynamics_arc_16_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5013/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb04bb73db643e89a962396ca695a69a38e4c5f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5013/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.191:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.191,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.8_0.0_MultiDynamics_arc_17_0.191_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5014/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..496b828ecce96ff95ed4477be91c86029864fa02
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5014/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_1.9_0.0_MultiDynamics_arc_18_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5015/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee0bda600bd8f289442511049c3b49ce2f2a302
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5015/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5016/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d4e796cf7cc02b090ed42189050d2461e9d9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5016/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.7_2.0_0.0_MultiDynamics_arc_19_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5017/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb77209bccd5fe6b4ba312a660190de38be6d3b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5017/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.350:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.350_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5018/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7094c78c8af7540afe535e7135b31b9347d4a0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5018/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-0.8_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5019/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2ac1872c07b346930a67903af4a6a5788267233
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5019/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-0.9_0.0_MultiDynamics_arc_8_0.419_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_502/meta.json b/RH5_dataset_threads_5000eps/frames/episode_502/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e31cc0203a10f403cf84082cc22b125f080f8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_502/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.8_0.0_MultiDynamics_arc_17_0.038_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5020/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba8808ee3dd844d06a8698590d334773fb9aeaab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5020/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.0_0.0_MultiDynamics_arc_9_0.372_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5021/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abf7b4a8f920c0f2cd2cb1dc9f81ad18daa32e37
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5021/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.1_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5022/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b06fc12dd7e8112b7446a606a1c121cc2b0dfbc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5022/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.2_0.0_MultiDynamics_arc_11_0.305_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5023/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15b005cbbc23307fa3491ab1a935f929d3b2174
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5023/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.3_0.0_MultiDynamics_arc_12_0.279_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5024/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..059c2bad8163eadf314200d069a736af25d87bc4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5024/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.4_0.0_MultiDynamics_arc_13_0.258_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5025/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca753ed9cec60aced2214ec7bf67a696068e98dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5025/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.5_0.0_MultiDynamics_arc_14_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5026/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2622f8f9eafe1bfc3269d5f1d82ba98f971d5d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5026/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.6_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5027/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e99b945d0ead9a2c17050dd2e6c1fec382a2343e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5027/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.7_0.0_MultiDynamics_arc_16_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5028/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4baeaeb77bf7863974712b0ca719b663d3f2f08
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5028/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.8_0.0_MultiDynamics_arc_17_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5029/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..662984711c4126b84b6bd13f6ab83c3f0ac86d0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5029/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-1.9_0.0_MultiDynamics_arc_18_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_503/meta.json b/RH5_dataset_threads_5000eps/frames/episode_503/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..179b39ca0658d24682cfef7eab5ad7585d9081db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_503/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_0.9_0.0_MultiDynamics_arc_8_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5030/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..816a852e214a048643aadb4d14869dca82b4c955
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5030/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5031/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f27c6d9b55fececf64c97b594ef1c90486e367
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5031/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_-2.0_0.0_MultiDynamics_arc_19_0.176_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5032/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36212491ff4a38cba9d1b7af81a62e64d1292d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5032/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.350:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.350_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5033/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28824c3816956fcebfe23fbda09dae720e068f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5033/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_0.8_0.0_MultiDynamics_arc_8_0.419_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5034/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8359fab061e8be9781bc6a989725ad5fb223e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5034/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.419:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.419,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_0.9_0.0_MultiDynamics_arc_8_0.419_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5035/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ff0df0783f95c2c554e73d69027fb2488deda5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5035/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.372:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.372,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.0_0.0_MultiDynamics_arc_9_0.372_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5036/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7e5c1194242018dff4de69102baec160649392
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5036/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.1_0.0_MultiDynamics_arc_11_0.305_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5037/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..264126860f4c87043ba656fa99f81f6ccc14c33f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5037/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.305:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.305,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.2_0.0_MultiDynamics_arc_11_0.305_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5038/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ba967a3206cb809dd55ace0596c3b1fc76acb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5038/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.279:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.279,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.3_0.0_MultiDynamics_arc_12_0.279_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5039/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d537706c18e5c54f1275c9c7b454cb7c0a56e9a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5039/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.258:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.4_0.0_MultiDynamics_arc_13_0.258_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_504/meta.json b/RH5_dataset_threads_5000eps/frames/episode_504/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80073753bba1e13440793c9f6cf520d7a37067d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_504/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-1.9_0.0_MultiDynamics_arc_18_0.036_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5040/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..679b6d0413eceb5c393445d45facd89b343e95cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5040/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.5_0.0_MultiDynamics_arc_14_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5041/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb663ea10810155e15117db35232aa56f63f99
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5041/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.6_0.0_MultiDynamics_arc_16_0.209_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5042/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac7ae7915bb28bb9d132410cf0ad99885b6bd2c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5042/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.7_0.0_MultiDynamics_arc_16_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5043/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4354e4f45ab1641236c1f9b4b658f84d39dc081
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5043/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.8_0.0_MultiDynamics_arc_17_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5044/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9095cb1574dc9529af2ae2cb02ea96acf611a80e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5044/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_1.9_0.0_MultiDynamics_arc_18_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5045/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b818db9a8430356570352ecefa435bc1b2718d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5045/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5046/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9de5b9afe7c1fb395c7d275cc83f3a8ead2fa0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5046/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.176:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.176,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.8_2.0_0.0_MultiDynamics_arc_19_0.176_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5047/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64471c0eed2c96d62bd80d4e5f3042fe52ba72f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5047/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.450:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.450_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5048/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..604360ed7c2045787dfbb643fe498fd081ea83f0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5048/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-0.8_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5049/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20f68abdf72bd23d4f1b8d50fb4f1df927f5236f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5049/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-0.9_0.0_MultiDynamics_arc_8_0.431_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_505/meta.json b/RH5_dataset_threads_5000eps/frames/episode_505/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9e81e0c4392c51792406182a21b34960fa79df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_505/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.0_0.0_MultiDynamics_arc_9_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5050/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5050/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8072f688a2f453264f28cdb8eaff8f46888c77e0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5050/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.0_0.0_MultiDynamics_arc_9_0.383_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5051/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5051/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04eaf67e5827ba93cf8f52c5ee0a1dec84c7efd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5051/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.1_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5052/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..578e712a90f1c64d70c4cfc78486b42be036ebe1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5052/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.2_0.0_MultiDynamics_arc_11_0.314_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5053/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5053/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e67a47fa042428b4fa8655d9817a9caf8511f18f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5053/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.3_0.0_MultiDynamics_arc_12_0.287_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5054/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5054/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94627abd6a644cf006efcb8efd59b5cb180ff344
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5054/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.4_0.0_MultiDynamics_arc_13_0.265_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5055/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24efb0955e0f5226dcd9b356abf2c5fd469dc226
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5055/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.5_0.0_MultiDynamics_arc_14_0.246_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5056/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5056/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1625923db13378986f6fc894528c1b7fc59cdd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5056/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.6_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5057/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d8f04beda23d4ee5cb26c32d8dcace0f7161ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5057/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.7_0.0_MultiDynamics_arc_16_0.216_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5058/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5058/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..735c6423f23d979caab6bb893e331a52a27915fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5058/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.8_0.0_MultiDynamics_arc_17_0.203_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5059/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..114d41d728a2cf82b1ce00f76b3c9746a27a659f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5059/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-1.9_0.0_MultiDynamics_arc_18_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_506/meta.json b/RH5_dataset_threads_5000eps/frames/episode_506/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aecbcb1dfdd6c12e00d11dad2c6abf8b0937e7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_506/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_-2.0_0.0_MultiDynamics_arc_19_0.034_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5060/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5772c1bc9d57d2bd38402ee198205a840b86de1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5060/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5061/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5061/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2e2cbacdb8d194901bc43cd2d6c04fe262c57c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5061/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_-2.0_0.0_MultiDynamics_arc_19_0.182_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5062/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5062/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f3c3d159c60d0fa8efb9f6ff0c7a4377e1249f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5062/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.450:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.450_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5063/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5063/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b617f29f1a86e91be4ea4aaccfba27af1a2706e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5063/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_0.8_0.0_MultiDynamics_arc_8_0.431_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5064/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5064/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2873ed85b21f987d3a59067ceb5f695f04caaf92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5064/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.431:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.431,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (3.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_0.9_0.0_MultiDynamics_arc_8_0.431_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5065/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5065/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2c77065d5f7203ec12895a75cc763799535fa0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5065/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.383:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.383,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.0_0.0_MultiDynamics_arc_9_0.383_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5066/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13148b885ee38f15ec38991d9dd70937db83d8fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5066/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.1_0.0_MultiDynamics_arc_11_0.314_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5067/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aae65909144226c4e3ed8f1393610600df75310
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5067/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.314:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.314,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.2_0.0_MultiDynamics_arc_11_0.314_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5068/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5068/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a564a2a121f28566a62b6b40171762556ce37ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5068/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.287:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.287,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.3_0.0_MultiDynamics_arc_12_0.287_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5069/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b603f5a1ab97e89b6e59b845a5b3f2222c370f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5069/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.265:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.265,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.4_0.0_MultiDynamics_arc_13_0.265_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_507/meta.json b/RH5_dataset_threads_5000eps/frames/episode_507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2ac3f0d799623066467aa1dbb23ccdfb34a8b30
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_507/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.1_0.0_MultiDynamics_arc_11_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5070/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8667027e7c42aef1856e382283f0775e4ae592
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5070/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.246:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.246,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.5_0.0_MultiDynamics_arc_14_0.246_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5071/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5071/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6cd5e799e8dfa705080e16a93605bd21c9c5ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5071/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.6_0.0_MultiDynamics_arc_16_0.216_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5072/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c34ec5a93d6679d8cbb79fd65d27b641d9f960
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5072/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.216:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.216,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.7_0.0_MultiDynamics_arc_16_0.216_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5073/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d85c4868b3d9c086dad0fa6fe9de23cb402d0e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5073/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.203:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.203,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.8_0.0_MultiDynamics_arc_17_0.203_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5074/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bbe45d7047e2e3e7bf9b32f2654232a87e995c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5074/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (3.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_1.9_0.0_MultiDynamics_arc_18_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5075/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64644558ca418f15b9283f32782e60c1e6d4cc7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5075/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-0.6_0.0_MultiDynamics_arc_5_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5076/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4db7b138eca57eb91a5a1e9517745763221cabf6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5076/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.182:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    3.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.182,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (3.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_3.9_2.0_0.0_MultiDynamics_arc_19_0.182_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5077/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b176089422a15ff956a531a195d7b288c4c61e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5077/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:-0.100,MultiDynamics_arc:1:0.500:0.060:-0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-0.7_0.0_MultiDynamics_arc_6_0.500_0.060_-0.100_MultiDynamics_arc_1_0.500_0.060_-0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5078/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5078/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de172f634eb7f5b1b9f1684905a28f9c09f537f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5078/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-0.8_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5079/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff553df7a340e9dbe0ec58cbc48907ced2fccea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5079/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-0.9_0.0_MultiDynamics_arc_8_0.444_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_508/meta.json b/RH5_dataset_threads_5000eps/frames/episode_508/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56639124061a6a20ae356ea9f105bc5a7fc6e48b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_508/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.2_0.0_MultiDynamics_arc_11_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5080/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5080/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6910f83b1d0aa85a1f4d3c5124d06f45a80183
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5080/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.0_0.0_MultiDynamics_arc_9_0.394_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5081/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0feed14b327043bb10acd66dda9b197f1b17dd2e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5081/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.1_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5082/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d13559e2ead612af28736a846b6760c829a83e2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5082/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.2_0.0_MultiDynamics_arc_11_0.323_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5083/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5083/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9051c1ceb0ad92402203a12bfe84cacb564448c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5083/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.3_0.0_MultiDynamics_arc_12_0.296_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5084/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..324d88e03a77b8934207ceb400817ec7b2800096
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5084/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.4_0.0_MultiDynamics_arc_13_0.273_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5085/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..232e376bb9ad6041b72033991d9c69be4a030779
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5085/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.5_0.0_MultiDynamics_arc_14_0.254_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5086/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc496c88c5e9a4ec7dab5640170e3d36fb9389a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5086/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.6_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5087/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc6436d0df7e147a57d031b8d7680b42e09eec47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5087/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.7_0.0_MultiDynamics_arc_16_0.222_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5088/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5088/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9bd3caa60dd64fc979dd343c56b1f7890c2571
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5088/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.8_0.0_MultiDynamics_arc_17_0.209_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5089/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5089/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a913e7aea9caf091d0b49de02cd5c0451685502
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5089/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-1.9_0.0_MultiDynamics_arc_18_0.197_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_509/meta.json b/RH5_dataset_threads_5000eps/frames/episode_509/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..513af07edd92078b43ecc6ca6ee94dc601032b6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_509/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.3_0.0_MultiDynamics_arc_12_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5090/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5090/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeaeeb683cb4b73e42b3edbd0e7a5496331c69cb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5090/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:2:0.275:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_0.6_0.0_MultiDynamics_arc_5_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_2_0.275_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5091/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5091/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19efe28bc34f35d8d8a49837b95c10fc7a2f0fd3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5091/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (4.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_-2.0_0.0_MultiDynamics_arc_19_0.187_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5092/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5092/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd25b6aae9e785448324e4ad552683d250d1463e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5092/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.500:0.060:0.100,MultiDynamics_arc:1:0.500:0.060:0.100,MultiDynamics_arc:1:0.050:0.060:0.000",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.5,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_0.7_0.0_MultiDynamics_arc_6_0.500_0.060_0.100_MultiDynamics_arc_1_0.500_0.060_0.100_MultiDynamics_arc_1_0.050_0.060_0.000"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5093/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5093/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6709518ab460ba2320e6e01c856208f09c02eba5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5093/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_0.8_0.0_MultiDynamics_arc_8_0.444_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5094/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5094/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adfa6697f1e3a4c4875236a4eeb347c8e0ef21d9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5094/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.444:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.444,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the yellow box at <DIST> (4.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_0.9_0.0_MultiDynamics_arc_8_0.444_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5095/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4db15719979fa1ad53603d747b322081542c3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5095/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.394:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.394,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.0_0.0_MultiDynamics_arc_9_0.394_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5096/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5096/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dcec574e7673773bdbcddf31bb624f322b91236
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5096/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.1_0.0_MultiDynamics_arc_11_0.323_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5097/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5097/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e288594a97acfae1059c9a1968f9ba856518ffc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5097/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.323:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.323,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.2_0.0_MultiDynamics_arc_11_0.323_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5098/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5098/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7461ec3e5dfc4984f43f6a942f6404c9c17558c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5098/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.296:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.296,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.3_0.0_MultiDynamics_arc_12_0.296_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5099/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5099/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66662796dfad7601585f18c7d6842da8bbfac90a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5099/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.273:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.273,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.4_0.0_MultiDynamics_arc_13_0.273_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_51/meta.json b/RH5_dataset_threads_5000eps/frames/episode_51/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b78200c0690caf92746b0a1a9c252a93ed6169
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_51/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.2_0.0_0.0_MultiDynamics_5_0.536_0.062_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_510/meta.json b/RH5_dataset_threads_5000eps/frames/episode_510/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c4c83d9216eef0d87e65744949b33c4b33ba94b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_510/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.4_0.0_MultiDynamics_arc_13_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5100/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5100/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a0c7c761095a6fb76acdf03a631c02d59e26c6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5100/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.254:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.254,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.5_0.0_MultiDynamics_arc_14_0.254_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5101/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5101/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba36d667d6b95eb6f5577073a72cf4b3e0340ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5101/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.6_0.0_MultiDynamics_arc_16_0.222_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5102/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5102/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9b26ccbc193351668be075eb9e4e03d40b9272
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5102/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.222:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.222,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.7_0.0_MultiDynamics_arc_16_0.222_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5103/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5103/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3bcaa95b8221aaa0343374f1ee81267c29e057c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5103/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.209:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.209,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.8_0.0_MultiDynamics_arc_17_0.209_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5104/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0322cdfcb4ed4c9a6c06efbf8d27266073dee7ad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5104/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.197:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.197,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the yellow box at <DIST> (4.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_1.9_0.0_MultiDynamics_arc_18_0.197_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5105/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4456a8a50c152008af11b010c8ce334da6eda988
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5105/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.187:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    4.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "yellow",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.187,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the yellow box at <DIST> (4.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/yellow_4.0_2.0_0.0_MultiDynamics_arc_19_0.187_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5106/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5106/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..339734bba974ea377fb8780eaf6adf28f637c07d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5106/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.140:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.14,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-0.6_0.0_MultiDynamics_arc_5_0.140_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5107/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf27845237d8bef51f5c81cfae2196abc043b45
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5107/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.120:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.12,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-0.6_0.0_MultiDynamics_arc_5_0.120_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5108/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5108/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c9a2cefcf7fef2438370d0189efd09a35d9266
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5108/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.120:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.12,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_0.6_0.0_MultiDynamics_arc_5_0.120_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5109/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5109/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c324f107c2690af1a068101f06d7c1ab2f888c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5109/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.100:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_0.7_0.0_MultiDynamics_arc_6_0.100_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_511/meta.json b/RH5_dataset_threads_5000eps/frames/episode_511/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8ce184da4b070430ae78a3d8970f600820dc06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_511/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.5_0.0_MultiDynamics_arc_14_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5110/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68abcdcd883cb2ccfa7ea02507719bc1d524e80f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5110/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-0.7_0.0_MultiDynamics_arc_6_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5111/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac434fd27de49fa4f2d53bdd1c656596ac67d56
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5111/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.100:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-0.7_0.0_MultiDynamics_arc_6_0.100_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5112/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5112/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9996236c15de56b5cf00a2a7f13e5dd27cf70d27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5112/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.075:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-0.8_0.0_MultiDynamics_arc_8_0.075_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5113/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5113/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9349292e38e6c003d99457c1bb3f416e657b70
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5113/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.075:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_0.8_0.0_MultiDynamics_arc_8_0.075_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5114/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5114/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03ee0156f0ff42b894ace9535b7ea2b4dc0baf3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5114/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_0.9_0.0_MultiDynamics_arc_8_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5115/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5115/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bae9e4b183a012bf41845b69dc140dab9ce816a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5115/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-0.9_0.0_MultiDynamics_arc_8_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5116/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9f3fd7d33bc632801b49311e59151f9f3a5a483
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5116/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.067:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.067,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.0_0.0_MultiDynamics_arc_9_0.067_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5117/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e073445d5a2af8575aff9092e6e0f6ed5355fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5117/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.067:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.067,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.0_0.0_MultiDynamics_arc_9_0.067_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5118/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0e733ebde6f01e3bea4f3d61f59fb553bb1d94
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5118/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.2_0.0_MultiDynamics_arc_11_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5119/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5119/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afc6f12e58a3d778aac39020dc7706c4a2f15c01
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5119/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.055:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.1_0.0_MultiDynamics_arc_11_0.055_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_512/meta.json b/RH5_dataset_threads_5000eps/frames/episode_512/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa724322141f149b6c7f464bb81805a55944cadb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_512/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.6_0.0_MultiDynamics_arc_16_0.041_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5120/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21796ba3556e8c494c59f6dbe6a838556895f8e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5120/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.055:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.1_0.0_MultiDynamics_arc_11_0.055_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5121/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5121/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3506b7732942c3478a73a87e251d44dfe4e884
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5121/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.2_0.0_MultiDynamics_arc_11_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5122/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5122/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cfe714a77e8cb235cea6349a2ec99de83752a82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5122/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.3_0.0_MultiDynamics_arc_12_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5123/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f6f7365ccf31a5af91cf89624bae82dd9c16a0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5123/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.3_0.0_MultiDynamics_arc_12_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5124/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3601d0f79cd32258f759794da3571ee1e0538ba7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5124/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.088:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-0.8_0.0_MultiDynamics_arc_8_0.088_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5125/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5125/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc4e3ce13809ae476bf2f95cbade7f7afdff92d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5125/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.046:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.4_0.0_MultiDynamics_arc_13_0.046_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5126/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5126/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f042efbe2f32c4be63f26b57592f389ec0c03b02
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5126/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.046:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.046,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.4_0.0_MultiDynamics_arc_13_0.046_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5127/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5127/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c408cb714763e5783d113481596dd4520185f4fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5127/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.043:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.043,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.5_0.0_MultiDynamics_arc_14_0.043_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5128/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5128/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1d602728d59f8fd4a001d9e87047aa1af24977
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5128/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-0.9_0.0_MultiDynamics_arc_8_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5129/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5129/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6adbcc391a512e69d21bf78c0cc746637eaa0c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5129/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.043:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.043,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.5_0.0_MultiDynamics_arc_14_0.043_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_513/meta.json b/RH5_dataset_threads_5000eps/frames/episode_513/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c40031b2097e0a5a96718c4dca2a2514d3221a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_513/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.7_0.0_MultiDynamics_arc_16_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5130/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5130/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..526cae87c7c8660f8468be003c48ea934718a474
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5130/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.0_0.0_MultiDynamics_arc_9_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5131/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5131/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece84546273103d21ebe3279861b0f5fd03c03c1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5131/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.037:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.6_0.0_MultiDynamics_arc_16_0.037_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5132/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5132/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22b7b7da373635eebee914c2435122c881bc53b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5132/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.037:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.6_0.0_MultiDynamics_arc_16_0.037_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5133/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5133/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ce7033b2a2fb3c94ff537fa02a98c68279df6d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5133/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.037:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.7_0.0_MultiDynamics_arc_16_0.037_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5134/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5134/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7fabd1f3174f024c7629558f49ceb33fce9604
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5134/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.037:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.7_0.0_MultiDynamics_arc_16_0.037_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5135/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5135/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f6c315d10c58cc147939512f49ca1be7ebaa87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5135/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.035:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.035,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.8_0.0_MultiDynamics_arc_17_0.035_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5136/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5136/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b90609d63a92aeb0fc408df4ecbc8616186210
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5136/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.035:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.035,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.8_0.0_MultiDynamics_arc_17_0.035_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5137/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d32e96634f9a465af7c4cf2c4a0456971e385a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5137/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.033:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.033,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_1.9_0.0_MultiDynamics_arc_18_0.033_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5138/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5138/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b1bb2f1516a1fe0dc4fd74fd6129c999d6c4d06
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5138/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.033:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.033,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-1.9_0.0_MultiDynamics_arc_18_0.033_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5139/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5139/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf11913208711081601a382feae15d47caccebcc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5139/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.032:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_-2.0_0.0_MultiDynamics_arc_19_0.032_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_514/meta.json b/RH5_dataset_threads_5000eps/frames/episode_514/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2874c075f5fd464102928dded752706363ea7c22
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_514/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.038:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.038,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.8_0.0_MultiDynamics_arc_17_0.038_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5140/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5140/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fbc1c401f4694b4c1f33fd473fd81bd570b13d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5140/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.032:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.032,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.0_2.0_0.0_MultiDynamics_arc_19_0.032_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5141/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5141/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0238dd3659fc0b465614b9ce45c8fd1a243c43e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5141/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.160:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.16,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-0.6_0.0_MultiDynamics_arc_5_0.160_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5142/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5142/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9105d43c7004fd625ee2914d5cdf6c937a0624
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5142/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.140:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.14,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_0.6_0.0_MultiDynamics_arc_5_0.140_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5143/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5143/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74489df0ed228311ee51bcfd2a2c678b62b29ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5143/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.133:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.133,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-0.7_0.0_MultiDynamics_arc_6_0.133_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5144/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5144/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee93c42c2180555d021a09c06994e023fd701d2d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5144/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_0.7_0.0_MultiDynamics_arc_6_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5145/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5145/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53c02a9967a8769b674a5fd5d3509bfe60e6701b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5145/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.100:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-0.8_0.0_MultiDynamics_arc_8_0.100_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5146/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5146/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb370fc4e66734cf94b0cc6bfb59b053f28d7640
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5146/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.088:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_0.8_0.0_MultiDynamics_arc_8_0.088_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5147/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5147/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5844844f8201f841b8e0dd69bb3e78a47a0d9493
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5147/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.100:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-0.9_0.0_MultiDynamics_arc_8_0.100_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5148/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4e704f5a0b4232c6f90694a651b814b12bead4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5148/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_0.9_0.0_MultiDynamics_arc_8_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5149/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5149/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..599e1925484b39367faa2bc4069ff78d8e1702b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5149/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.0_0.0_MultiDynamics_arc_9_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_515/meta.json b/RH5_dataset_threads_5000eps/frames/episode_515/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f6e9b6f82fc394d1fee12a6d4b2ebb161c4c7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_515/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-0.6_0.0_MultiDynamics_arc_5_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5150/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5150/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f86075c0923f749cd2f65edb03f98a009a09eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5150/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.0_0.0_MultiDynamics_arc_9_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5151/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5151/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8a474d7740103c1c91520d2937f8209df6fec3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5151/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.064:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.1_0.0_MultiDynamics_arc_11_0.064_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5152/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5152/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26b42764d2f70dac42e5393fb4dabf6603f427e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5152/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.064:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.1_0.0_MultiDynamics_arc_11_0.064_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5153/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5153/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43deacc5f0bca9d7641f95286e91b3e64c95759f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5153/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.073:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.1_0.0_MultiDynamics_arc_11_0.073_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5154/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5154/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..555a0c67fe36602c0409e55d4affaf3aa420ff2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5154/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.2_0.0_MultiDynamics_arc_11_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5155/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5155/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acabf74942b23dd83a29918322674456889315c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5155/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.2_0.0_MultiDynamics_arc_11_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5156/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5156/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..867289ec9dde6c72260a976f52cf08966e0d1db8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5156/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.2_0.0_MultiDynamics_arc_11_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5157/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5157/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8fc51b482c8fdd85a1582560dbb6d4e6539a96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5157/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.3_0.0_MultiDynamics_arc_12_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5158/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5158/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aecd24df08a762b1ff59f99fd4669f161bb5a144
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5158/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.3_0.0_MultiDynamics_arc_12_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5159/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5159/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4536b6dac30a36d4184798dd6c6bccb4bcfaf761
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5159/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.4_0.0_MultiDynamics_arc_13_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_516/meta.json b/RH5_dataset_threads_5000eps/frames/episode_516/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3057393e07590c5a220923afa2bfd093bc41575
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_516/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.036:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.036,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_1.9_0.0_MultiDynamics_arc_18_0.036_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5160/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5160/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5454d052f7b154a75ad270846e256948d242809
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5160/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.4_0.0_MultiDynamics_arc_13_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5161/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5161/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4482867b626fc1dddd23ce893f299d4a77497d0d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5161/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.5_0.0_MultiDynamics_arc_14_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5162/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5162/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb51ebaa9468028756f76e252b19666b51db0a47
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5162/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.5_0.0_MultiDynamics_arc_14_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5163/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5163/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6910da5660228f9015ee1f6c042d3f8c152e5bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5163/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.044:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.6_0.0_MultiDynamics_arc_16_0.044_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5164/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5164/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c96536bb84321474838a1857972f827e09c7b80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5164/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.044:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.6_0.0_MultiDynamics_arc_16_0.044_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5165/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5165/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..325a45863452c81ff3a979eb50ad2b98ab7b75b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5165/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.7_0.0_MultiDynamics_arc_16_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5166/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5166/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a85a3c77b277b8b8f6fb1f96779c4a875af301
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5166/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.7_0.0_MultiDynamics_arc_16_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5167/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5167/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e79101602c28e7c21090ddd9bc392d28c07f580
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5167/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.041:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.8_0.0_MultiDynamics_arc_17_0.041_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5168/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6b878fe7a7b7740d730ca8b2c158e983e90163
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5168/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.041:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.041,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.8_0.0_MultiDynamics_arc_17_0.041_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5169/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5169/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5492d4b4063e3c57d44b6054336ef3a9c6909cf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5169/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.067:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.067,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.3_0.0_MultiDynamics_arc_12_0.067_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_517/meta.json b/RH5_dataset_threads_5000eps/frames/episode_517/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a70dbb1ce84a0c85780b19f5ace66dcdf1341c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_517/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-0.7_0.0_MultiDynamics_arc_6_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5170/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5170/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87bf1568ba9fd81bd787e8c4668778e2ed29ea1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5170/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_1.9_0.0_MultiDynamics_arc_18_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5171/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5171/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a732b114d3c3221409a613cdf9808105dc66cd15
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5171/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-1.9_0.0_MultiDynamics_arc_18_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5172/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5172/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70597d9b702fdf9452ae4dc35cd280d7d464313c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5172/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.4_0.0_MultiDynamics_arc_13_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5173/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5173/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..265a5f89d373da8921c9a59756d562beebe20b98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5173/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.037:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_2.0_0.0_MultiDynamics_arc_19_0.037_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5174/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5174/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8f016d0b577dbd4f094489fd25e0c6b92fddae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5174/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.057:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.057,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.5_0.0_MultiDynamics_arc_14_0.057_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5175/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5175/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae32d7d5ca26636b4171f8258139dc7b4bd5ca86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5175/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.037:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.037,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.1_-2.0_0.0_MultiDynamics_arc_19_0.037_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5176/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5176/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9467065b85881b104623083599a8d6f040c0e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5176/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.180:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.18,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-0.6_0.0_MultiDynamics_arc_5_0.180_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5177/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5177/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9566c0c9c31cb38d1159f605484edb870ff44e61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5177/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.160:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.16,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_0.6_0.0_MultiDynamics_arc_5_0.160_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5178/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5178/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3664bc9f308798e13316d561f5d626cd7d42ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5178/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-0.7_0.0_MultiDynamics_arc_6_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5179/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5179/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f131d42e722d46a0bfeca7c4419f9f18d52b023d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5179/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.133:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.133,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_0.7_0.0_MultiDynamics_arc_6_0.133_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_518/meta.json b/RH5_dataset_threads_5000eps/frames/episode_518/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73149992965af906536361b48def1bd2a751bf9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_518/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.034:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.034,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.1_2.0_0.0_MultiDynamics_arc_19_0.034_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5180/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5180/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd53c5e3d52c4e7777717faad46cfcd7d344ea85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5180/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.100:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_0.8_0.0_MultiDynamics_arc_8_0.100_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5181/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5181/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..449884e72c7dafd779878bc9d7804033f13a3dfe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5181/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.113:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-0.8_0.0_MultiDynamics_arc_8_0.113_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5182/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb39bc99fa10603d159bbf9cc329dda1323930b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5182/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.100:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_0.9_0.0_MultiDynamics_arc_8_0.100_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5183/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5183/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e63e8e1543eb7c3d688e412a1e10c929a2f9b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5183/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-0.9_0.0_MultiDynamics_arc_8_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5184/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5184/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d46bd9d8c9087fcee52986906b273c80cbf2e87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5184/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.0_0.0_MultiDynamics_arc_9_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5185/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5185/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd9b46603753eba46e6adb5be8fd3b8dcf66240
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5185/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.100:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.0_0.0_MultiDynamics_arc_9_0.100_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5186/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5186/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8116d4ceac2198b6147cc23b7ce0b2ce5578978c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5186/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.073:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.1_0.0_MultiDynamics_arc_11_0.073_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5187/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5187/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aead29f33b7381954e26ad58a73b9b33c879841a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5187/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.082:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.1_0.0_MultiDynamics_arc_11_0.082_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5188/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5188/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f565922088397313e86bcf14758732cc7c37431
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5188/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.2_0.0_MultiDynamics_arc_11_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5189/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5189/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f892fb4a01fbc777c63252dbe0885a58806c292
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5189/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.2_0.0_MultiDynamics_arc_11_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_519/meta.json b/RH5_dataset_threads_5000eps/frames/episode_519/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5fe10948db655b30cbc3bdcf07e5ca0577f2d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_519/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-0.8_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5190/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5190/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24b7acee9e4bff851f3cd94ad38eac031d191d8f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5190/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.067:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.067,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.3_0.0_MultiDynamics_arc_12_0.067_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5191/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5191/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dffba7daa5e3b43fb5645eb814eb51ae7d5a1ca8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5191/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.3_0.0_MultiDynamics_arc_12_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5192/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5192/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..873bd53ac6e60b1c8863f5017374a45184ec45b9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5192/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.064:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.5_0.0_MultiDynamics_arc_14_0.064_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5193/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5193/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..966ca110d036d9d5510a804636192e12656322bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5193/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.4_0.0_MultiDynamics_arc_13_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5194/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5194/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d5b777e8781f293095a0286e41dda963c7e222
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5194/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.4_0.0_MultiDynamics_arc_13_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5195/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5195/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f8143ab28769f4722f19758b076afc936315cad
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5195/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.057:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.057,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.5_0.0_MultiDynamics_arc_14_0.057_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5196/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5196/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fcf6487229e50e57d32f03244c4ebcba95166f9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5196/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.050:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.6_0.0_MultiDynamics_arc_16_0.050_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5197/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5197/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d42be201b084920a6eaa1913d011445601d11cf7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5197/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.050:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.6_0.0_MultiDynamics_arc_16_0.050_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5198/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5198/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6adfd3b5f29ff69442a07892bae020d64d0ad2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5198/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.056:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.6_0.0_MultiDynamics_arc_16_0.056_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5199/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5199/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22e0d1f4708f18781c03a270c56f23442d1dd958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5199/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.7_0.0_MultiDynamics_arc_16_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_52/meta.json b/RH5_dataset_threads_5000eps/frames/episode_52/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8707a5a470fc6def41720e9a84871c237053c577
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_52/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.3_0.0_0.0_MultiDynamics_5_0.552_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_520/meta.json b/RH5_dataset_threads_5000eps/frames/episode_520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7b0fc499e7fd0e4b713413458eb02068403054
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_520/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-0.9_0.0_MultiDynamics_arc_8_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5200/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5200/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a64395785dcceb413595d6f11f7b339cfdd9746b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5200/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.7_0.0_MultiDynamics_arc_16_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5201/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5201/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..653fa957dbd8c2f48501cb9652aeb9fb27c67528
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5201/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.7_0.0_MultiDynamics_arc_16_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5202/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5202/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d229302118e097a9d02e08add7cfd97013bba44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5202/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.047:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.8_0.0_MultiDynamics_arc_17_0.047_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5203/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5203/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0fcabacd8e23c3cfad8579dbb166845a8b4d639
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5203/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.047:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.8_0.0_MultiDynamics_arc_17_0.047_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5204/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5204/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f0a616b3533959eae4dfa9baad5b2490cc62d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5204/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_1.9_0.0_MultiDynamics_arc_18_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5205/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5205/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5916e898e01b42b831449b79686b4892d8383e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5205/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-1.9_0.0_MultiDynamics_arc_18_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5206/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5206/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27d800194451eea9f20cf81153663a17b2d295e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5206/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_-2.0_0.0_MultiDynamics_arc_19_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5207/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5207/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ed921305793191401464533242b00bd7d23773
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5207/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.2_2.0_0.0_MultiDynamics_arc_19_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5208/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5208/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4b32a6a06ca2cece6c7dd71dffeebfc143251b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5208/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.8_0.0_MultiDynamics_arc_17_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5209/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5209/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84ecfb1c11ac3158e1616b068e88884e8be5d3f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5209/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-1.9_0.0_MultiDynamics_arc_18_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_521/meta.json b/RH5_dataset_threads_5000eps/frames/episode_521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3191972e73ccad427e3d9f0c19c06bc60504a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_521/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.0_0.0_MultiDynamics_arc_9_0.083_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5210/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5210/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9b011503d0fb7aba3cb4d892c217638edca691
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5210/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_-2.0_0.0_MultiDynamics_arc_19_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5211/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5211/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d254b9a6fb3f925ab7e9dc027e21bd7f5c54a81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5211/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.180:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.18,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_0.6_0.0_MultiDynamics_arc_5_0.180_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5212/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5212/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12809f7e4692eff88eb5d8e5cf930cca9931fa85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5212/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.200:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.2,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-0.6_0.0_MultiDynamics_arc_5_0.200_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5213/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5213/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..404fce9d412f8f27341e0acaf51005298ad8d520
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5213/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.200:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.2,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_0.6_0.0_MultiDynamics_arc_5_0.200_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5214/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5214/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..049f21112bb63bc3fc91e493c9b413687cfa33d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5214/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.167:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.167,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-0.7_0.0_MultiDynamics_arc_6_0.167_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5215/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5215/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..962cf11c02cabba1703189b2b848d02735c22154
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5215/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.167:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.167,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_0.7_0.0_MultiDynamics_arc_6_0.167_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5216/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5216/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c2aa497d953e8dccaa33070c0f929f83412f330
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5216/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_0.7_0.0_MultiDynamics_arc_6_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5217/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5217/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa35e06ae960d7bf836c4ab29179acfc75c2199
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5217/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.125:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-0.8_0.0_MultiDynamics_arc_8_0.125_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5218/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5218/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4502919b936394f0d776ceda03230f6d1185263f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5218/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.113:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_0.8_0.0_MultiDynamics_arc_8_0.113_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5219/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5219/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44257ceddf429e2bfb87d84a2002cd3925908dba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5219/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-0.9_0.0_MultiDynamics_arc_8_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_522/meta.json b/RH5_dataset_threads_5000eps/frames/episode_522/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c018a1e60418ca644a18aa4f2a56e0c63778acfa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_522/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.1_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5220/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5220/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e576378c6c7096a0590e80ad522e441c19a2f283
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5220/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_0.9_0.0_MultiDynamics_arc_8_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5221/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5221/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f039d1daf531c943340fe34ae67101b3300b0ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5221/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.100:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.1,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.0_0.0_MultiDynamics_arc_9_0.100_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5222/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5222/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51988431c70c28f6f0d8db2527c2934dbdcdcd8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5222/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.111:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.0_0.0_MultiDynamics_arc_9_0.111_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5223/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5223/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f66a98f0ef06345bb595570baf13395af559cac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5223/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.082:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.1_0.0_MultiDynamics_arc_11_0.082_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5224/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5224/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7bbcb33cb50c6543459a0d7a06ee0c8157c443
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5224/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.091:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.1_0.0_MultiDynamics_arc_11_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5225/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe7ac4ba31a6e37eb8ccf96d3fc8e3b4a0420cbb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5225/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.2_0.0_MultiDynamics_arc_11_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5226/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5226/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b34cfb617c5f298db1fd9a80a0924c18b42dbc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5226/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.2_0.0_MultiDynamics_arc_11_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5227/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5227/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..101da93dabf127c718043e0e690d41d2e526e84d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5227/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.3_0.0_MultiDynamics_arc_12_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5228/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5228/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..310267bf0c3e195d007df9b3fac061c5b5547dfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5228/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.083:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.3_0.0_MultiDynamics_arc_12_0.083_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5229/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5229/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41779cc976941f6c378a1da84589b952342869c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5229/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.125:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_0.8_0.0_MultiDynamics_arc_8_0.125_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_523/meta.json b/RH5_dataset_threads_5000eps/frames/episode_523/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..375de65d6a28d84ccbbe1bda7a67178e1bee9393
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_523/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.2_0.0_MultiDynamics_arc_11_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5230/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5230/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f910b6fc4b1115bb3069cb285251bc7364d05d97
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5230/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.4_0.0_MultiDynamics_arc_13_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5231/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5231/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a4f1e8b7ac5a0ef5447ca65eab8f4957bbdd420
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5231/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.4_0.0_MultiDynamics_arc_13_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5232/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5232/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3515e639ec4de24147106697981dd950f276f069
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5232/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue sphere at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_0.9_0.0_MultiDynamics_arc_8_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5233/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5233/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a8c90e20c292bda74f5240756793d06a8032d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5233/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.064:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.5_0.0_MultiDynamics_arc_14_0.064_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5234/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5234/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44457e1e4e124511108ed2f5e52402ad94125adc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5234/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.071:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.5_0.0_MultiDynamics_arc_14_0.071_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5235/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5235/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbb870ced0447054b56bbe6f21139d48a43bb1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5235/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.056:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.6_0.0_MultiDynamics_arc_16_0.056_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5236/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5236/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..272c4908c1be8fe735f924621f970c952677ed1c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5236/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.111:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_1.0_0.0_MultiDynamics_arc_9_0.111_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5237/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5237/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8f78496a1cfe5224bb2d5c339522911a1c92ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5237/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.062:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.6_0.0_MultiDynamics_arc_16_0.062_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5238/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5238/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..583a3ad4b6d32b8a64e458800b551e8b6a5acddc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5238/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.8_0.0_MultiDynamics_arc_17_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5239/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5239/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a3fe44ea7ad1e437fb56a7a6bb5789fad38f9b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5239/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.7_0.0_MultiDynamics_arc_16_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_524/meta.json b/RH5_dataset_threads_5000eps/frames/episode_524/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c96ffbafa3cf47549e95285bf4e10346f8b596
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_524/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.3_0.0_MultiDynamics_arc_12_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5240/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5240/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d43edadc62baab864a9b1cfc12e15bdb587d023
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5240/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.7_0.0_MultiDynamics_arc_16_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5241/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5241/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4e580802d49f808ce2c907889d3e5768663babd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5241/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.8_0.0_MultiDynamics_arc_17_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5242/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5242/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..744a5f202a589541c14ed4cbe0e93409fb9aa322
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5242/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_1.9_0.0_MultiDynamics_arc_18_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5243/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5243/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e071dbf3daa46c4794bb2b69ea641b70308a64cf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5243/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.056:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue sphere at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-1.9_0.0_MultiDynamics_arc_18_0.056_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5244/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5244/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49fada1257224dd5fd7ac493268265428520ed6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5244/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "sphere",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to sphere on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.3_2.0_0.0_MultiDynamics_arc_19_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_5245/meta.json b/RH5_dataset_threads_5000eps/frames/episode_5245/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6371c757ed86c8128f1f63b6742cab795cf38308
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_5245/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.053:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "sphere",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue sphere at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to sphere on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/sphere/blue_1.4_-2.0_0.0_MultiDynamics_arc_19_0.053_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_525/meta.json b/RH5_dataset_threads_5000eps/frames/episode_525/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e72c1a2220396e0c42c761eeef10ec5c98c920ce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_525/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.4_0.0_MultiDynamics_arc_13_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_526/meta.json b/RH5_dataset_threads_5000eps/frames/episode_526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..457b7f3b589d1bca597b6e5d63fa069a8c8025d0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_526/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.5_0.0_MultiDynamics_arc_14_0.054_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_527/meta.json b/RH5_dataset_threads_5000eps/frames/episode_527/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f640f22992e81c3c3bc0d8c44f9d2485b84bec3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_527/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.6_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_528/meta.json b/RH5_dataset_threads_5000eps/frames/episode_528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1acb0b46fce44dfbfad2e788abbc333a81812c3f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_528/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.7_0.0_MultiDynamics_arc_16_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_529/meta.json b/RH5_dataset_threads_5000eps/frames/episode_529/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffbe78520fec29452e4d1efa90827529ce20a81a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_529/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.8_0.0_MultiDynamics_arc_17_0.044_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_53/meta.json b/RH5_dataset_threads_5000eps/frames/episode_53/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57f86fc96363e5ce3aeea49ac91325ce2af7b5fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_53/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.568:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.295:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.4_0.0_0.0_MultiDynamics_5_0.568_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.295_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_530/meta.json b/RH5_dataset_threads_5000eps/frames/episode_530/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a33f788834295ac8e7f6617d76f3fb941c0f16d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_530/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_0.6_0.0_MultiDynamics_arc_5_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_531/meta.json b/RH5_dataset_threads_5000eps/frames/episode_531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..016b49c24e068ec111d76b63e6304f8341dc5007
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_531/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-1.9_0.0_MultiDynamics_arc_18_0.042_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_532/meta.json b/RH5_dataset_threads_5000eps/frames/episode_532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5781385c1f5e27e8ea883a8d59f140ffe17d8fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_532/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_0.7_0.0_MultiDynamics_arc_6_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_533/meta.json b/RH5_dataset_threads_5000eps/frames/episode_533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d15d7456abc0cca5c991e83bd8894ac79c886a81
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_533/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_0.8_0.0_MultiDynamics_arc_8_0.094_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_534/meta.json b/RH5_dataset_threads_5000eps/frames/episode_534/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94887dedd2ed4b8ac08e55d678ab1f5e7b00c1ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_534/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_-2.0_0.0_MultiDynamics_arc_19_0.039_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_535/meta.json b/RH5_dataset_threads_5000eps/frames/episode_535/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f3090da5c55c40a7dae0566426f5ee8d635ef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_535/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_0.9_0.0_MultiDynamics_arc_8_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_536/meta.json b/RH5_dataset_threads_5000eps/frames/episode_536/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce77d03174dd441925cef2cf62f1942f242716d8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_536/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.083:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.083,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.0_0.0_MultiDynamics_arc_9_0.083_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_537/meta.json b/RH5_dataset_threads_5000eps/frames/episode_537/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9fd84b6f6d4cd6211d9bcafd00079fc3a532b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_537/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.1_0.0_MultiDynamics_arc_11_0.068_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_538/meta.json b/RH5_dataset_threads_5000eps/frames/episode_538/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..879515c5bb1fc5b4727f391c2b82c126709a3191
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_538/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.2_0.0_MultiDynamics_arc_11_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_539/meta.json b/RH5_dataset_threads_5000eps/frames/episode_539/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81548845fee92cb215eda4d9750ffa9cdae28d49
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_539/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.3_0.0_MultiDynamics_arc_12_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_54/meta.json b/RH5_dataset_threads_5000eps/frames/episode_54/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9383abf1294d211548c9af0b9db2c6d966352f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_54/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.5_0.0_0.0_MultiDynamics_5_0.588_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_540/meta.json b/RH5_dataset_threads_5000eps/frames/episode_540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cf4eb672576d05a626a6b79bf5d492f53335d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_540/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.4_0.0_MultiDynamics_arc_13_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_541/meta.json b/RH5_dataset_threads_5000eps/frames/episode_541/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5541ff5adc91d43ad468c94c4a67385eb8fc490b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_541/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.054:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.054,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.5_0.0_MultiDynamics_arc_14_0.054_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_542/meta.json b/RH5_dataset_threads_5000eps/frames/episode_542/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1853e36b405dd26993bc3f9d8db5e4ce73c4a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_542/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.6_0.0_MultiDynamics_arc_16_0.047_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_543/meta.json b/RH5_dataset_threads_5000eps/frames/episode_543/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1943071cbdebbe5ce61bf517371e6eb6418b61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_543/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.7_0.0_MultiDynamics_arc_16_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_544/meta.json b/RH5_dataset_threads_5000eps/frames/episode_544/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4876f114783891f2f93e146b629cd8166a17b0c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_544/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.044:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.044,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.8_0.0_MultiDynamics_arc_17_0.044_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_545/meta.json b/RH5_dataset_threads_5000eps/frames/episode_545/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d1d1af7673ef8a3a670b18040c9672db9f4e79
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_545/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-0.6_0.0_MultiDynamics_arc_5_0.170_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_546/meta.json b/RH5_dataset_threads_5000eps/frames/episode_546/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b34d7f78b23e269476908117893bda35c74ba2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_546/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.042:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.042,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_1.9_0.0_MultiDynamics_arc_18_0.042_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_547/meta.json b/RH5_dataset_threads_5000eps/frames/episode_547/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a684bcd094fe1c704a3feb7c09887aaaa8822eb7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_547/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-0.7_0.0_MultiDynamics_arc_6_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_548/meta.json b/RH5_dataset_threads_5000eps/frames/episode_548/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95c5899fc6bd7473aaeb0f589c53f4fcab47458
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_548/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.039:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.039,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.2_2.0_0.0_MultiDynamics_arc_19_0.039_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_549/meta.json b/RH5_dataset_threads_5000eps/frames/episode_549/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d38b51ccec86d5457a05e2cbfdf2f2020eec468
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_549/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-0.8_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_55/meta.json b/RH5_dataset_threads_5000eps/frames/episode_55/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d934c059d164965f18f6661e00f6ce093522ae6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_55/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.6_0.0_0.0_MultiDynamics_5_0.614_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_550/meta.json b/RH5_dataset_threads_5000eps/frames/episode_550/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a948346e9c4cd8fab5c48d1aaa71f9d6a0936599
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_550/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-0.9_0.0_MultiDynamics_arc_8_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_551/meta.json b/RH5_dataset_threads_5000eps/frames/episode_551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..440deafe31b7ddf34b704b59f95e06858cd31c32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_551/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.0_0.0_MultiDynamics_arc_9_0.094_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_552/meta.json b/RH5_dataset_threads_5000eps/frames/episode_552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f73b486f4cea0a391f6004a26666d944ca78992
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_552/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.1_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_553/meta.json b/RH5_dataset_threads_5000eps/frames/episode_553/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b05e6526ebbdb3a2d1e6a5d50d9fbf2f18cbb5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_553/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.2_0.0_MultiDynamics_arc_11_0.077_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_554/meta.json b/RH5_dataset_threads_5000eps/frames/episode_554/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41955714243491c02dedbee22d42aad0e0dbea6d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_554/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.3_0.0_MultiDynamics_arc_12_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_555/meta.json b/RH5_dataset_threads_5000eps/frames/episode_555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa38434a42d9d729aae615a9b30eb9703876dca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_555/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.4_0.0_MultiDynamics_arc_13_0.065_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_556/meta.json b/RH5_dataset_threads_5000eps/frames/episode_556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..729f92172e3a471060c1b4edd740c69d00c8b919
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_556/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.5_0.0_MultiDynamics_arc_14_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_557/meta.json b/RH5_dataset_threads_5000eps/frames/episode_557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a552b91f06d46edb8df1d6091834d20890de1f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_557/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.6_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_558/meta.json b/RH5_dataset_threads_5000eps/frames/episode_558/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8117dff4a89173553d4d52e1c26e9d555bd45fd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_558/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.7_0.0_MultiDynamics_arc_16_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_559/meta.json b/RH5_dataset_threads_5000eps/frames/episode_559/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73d8c821c50c1b08c4993af08f2b469909c87e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_559/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.8_0.0_MultiDynamics_arc_17_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_56/meta.json b/RH5_dataset_threads_5000eps/frames/episode_56/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4194ea7c5aadf1bf97962aed48910c94d8ff8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_56/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.7_0.0_0.0_MultiDynamics_6_0.530_0.062_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_560/meta.json b/RH5_dataset_threads_5000eps/frames/episode_560/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90f4578770a6c0a43b6ee7e53b7042e1254bea24
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_560/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.170:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.17,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_0.6_0.0_MultiDynamics_arc_5_0.170_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_561/meta.json b/RH5_dataset_threads_5000eps/frames/episode_561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c58f07ed2486c804222cd037e15e796c42cc8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_561/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-1.9_0.0_MultiDynamics_arc_18_0.047_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_562/meta.json b/RH5_dataset_threads_5000eps/frames/episode_562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e600256cc9021c96734ab475cbf56a7f88d5d908
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_562/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_0.7_0.0_MultiDynamics_arc_6_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_563/meta.json b/RH5_dataset_threads_5000eps/frames/episode_563/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f546db3cbde1c1d16918f6c74b372fc26cf58088
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_563/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_-2.0_0.0_MultiDynamics_arc_19_0.045_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_564/meta.json b/RH5_dataset_threads_5000eps/frames/episode_564/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a3e8e7f7b6098d9e3211363419dea27816793c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_564/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_0.8_0.0_MultiDynamics_arc_8_0.106_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_565/meta.json b/RH5_dataset_threads_5000eps/frames/episode_565/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b62d145225bbdc1ef2f11fe8bcef7afd04c30f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_565/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_0.9_0.0_MultiDynamics_arc_8_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_566/meta.json b/RH5_dataset_threads_5000eps/frames/episode_566/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8874bbd6c7e5e5bbe5997ebfc09ee98e9ec3795b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_566/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.094:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.094,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.0_0.0_MultiDynamics_arc_9_0.094_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_567/meta.json b/RH5_dataset_threads_5000eps/frames/episode_567/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ac270bfcdf8c38731e451bbc3131d84c4b92f1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_567/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.1_0.0_MultiDynamics_arc_11_0.077_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_568/meta.json b/RH5_dataset_threads_5000eps/frames/episode_568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..665d650450b98293837134d0318d55803470e615
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_568/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.077:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.077,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.2_0.0_MultiDynamics_arc_11_0.077_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_569/meta.json b/RH5_dataset_threads_5000eps/frames/episode_569/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f0d585fa533f0cf2e71d9cce0a19ba7cc55746
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_569/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.3_0.0_MultiDynamics_arc_12_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_57/meta.json b/RH5_dataset_threads_5000eps/frames/episode_57/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec197e5e4dbbe2e0c8e7adf06b13d5604e689b3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_57/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.543:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.8_0.0_0.0_MultiDynamics_6_0.543_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_570/meta.json b/RH5_dataset_threads_5000eps/frames/episode_570/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec2a6e821400c91f8e48d091cf02e5ccdfb90e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_570/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.065:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.065,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.4_0.0_MultiDynamics_arc_13_0.065_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_571/meta.json b/RH5_dataset_threads_5000eps/frames/episode_571/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c36a3e47514034b5be329c5c222fdcc29bcb1a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_571/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.5_0.0_MultiDynamics_arc_14_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_572/meta.json b/RH5_dataset_threads_5000eps/frames/episode_572/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97afa67842a6a08be1e9ec33534ee62945bdac44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_572/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.6_0.0_MultiDynamics_arc_16_0.053_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_573/meta.json b/RH5_dataset_threads_5000eps/frames/episode_573/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdfbae94bf28b7357189c5cbc28487271335e2ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_573/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.7_0.0_MultiDynamics_arc_16_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_574/meta.json b/RH5_dataset_threads_5000eps/frames/episode_574/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..629c0be11e6098d6ac81171b7161026c6e130e53
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_574/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.8_0.0_MultiDynamics_arc_17_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_575/meta.json b/RH5_dataset_threads_5000eps/frames/episode_575/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2a90cd29528a6bff5fdc122293925812efdf41
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_575/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-0.6_0.0_MultiDynamics_arc_5_0.190_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_576/meta.json b/RH5_dataset_threads_5000eps/frames/episode_576/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c535845230de64e944c1980c91a28babae47a8e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_576/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.047:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.047,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_1.9_0.0_MultiDynamics_arc_18_0.047_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_577/meta.json b/RH5_dataset_threads_5000eps/frames/episode_577/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..629379087ef82bf281f35cddb81a1fc2be9cd5f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_577/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-0.7_0.0_MultiDynamics_arc_6_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_578/meta.json b/RH5_dataset_threads_5000eps/frames/episode_578/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..174d0681a6e45821ff6a8878932a40b9d0050bfe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_578/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.045:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.045,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.3_2.0_0.0_MultiDynamics_arc_19_0.045_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_579/meta.json b/RH5_dataset_threads_5000eps/frames/episode_579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd5c52fdb4a7f82dca2ee76965fe9e873d8d2508
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_579/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-0.8_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_58/meta.json b/RH5_dataset_threads_5000eps/frames/episode_58/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3379b9e1e74dfc3d3f7fe2d1d9d955b61a863001
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_58/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.062,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_3.9_0.0_0.0_MultiDynamics_6_0.560_0.062_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_580/meta.json b/RH5_dataset_threads_5000eps/frames/episode_580/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c49bc69001044fbd7870a82af3f66d8996803f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_580/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-0.9_0.0_MultiDynamics_arc_8_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_581/meta.json b/RH5_dataset_threads_5000eps/frames/episode_581/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df00bc261293d44b0f6be22d59b6e67d8d11b489
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_581/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.0_0.0_MultiDynamics_arc_9_0.106_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_582/meta.json b/RH5_dataset_threads_5000eps/frames/episode_582/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83cd2527e318d54e0b6031035cddba63d0c7a7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_582/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.1_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_583/meta.json b/RH5_dataset_threads_5000eps/frames/episode_583/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f30c8798f41b6a67c6932cb988f0611c00fcce
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_583/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.2_0.0_MultiDynamics_arc_11_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_584/meta.json b/RH5_dataset_threads_5000eps/frames/episode_584/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d064a78cc041c20046594bf932ef2ea7e490f82
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_584/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.3_0.0_MultiDynamics_arc_12_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_585/meta.json b/RH5_dataset_threads_5000eps/frames/episode_585/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..784b68c1eb18db5e6b8488385705ffe24eadb1a3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_585/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.4_0.0_MultiDynamics_arc_13_0.073_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_586/meta.json b/RH5_dataset_threads_5000eps/frames/episode_586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4459562d5e4f2e51cbb34fbd0493920bc70adec8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_586/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.5_0.0_MultiDynamics_arc_14_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_587/meta.json b/RH5_dataset_threads_5000eps/frames/episode_587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0532df0af6a4bd3636782683d63b13ed444067d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_587/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.6_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_588/meta.json b/RH5_dataset_threads_5000eps/frames/episode_588/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..178530c68ec153fc5429adc535ec69d6480b073a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_588/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.7_0.0_MultiDynamics_arc_16_0.059_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_589/meta.json b/RH5_dataset_threads_5000eps/frames/episode_589/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d3fecc9bf97c71ce296ba05d07a84bec00a30b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_589/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.8_0.0_MultiDynamics_arc_17_0.056_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_59/meta.json b/RH5_dataset_threads_5000eps/frames/episode_59/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb0e57fc59c518661d8d34aa423525a9b99ccd2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_59/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "green",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the green stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/green_4.0_0.0_0.0_MultiDynamics_6_0.580_0.062_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_590/meta.json b/RH5_dataset_threads_5000eps/frames/episode_590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80bd8c9f2c9878553f3421dadd0ccfa36d342880
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_590/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.190:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.19,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_0.6_0.0_MultiDynamics_arc_5_0.190_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_591/meta.json b/RH5_dataset_threads_5000eps/frames/episode_591/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe864240512792041066d9aac363116b6aa1a19
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_591/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-1.9_0.0_MultiDynamics_arc_18_0.053_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_592/meta.json b/RH5_dataset_threads_5000eps/frames/episode_592/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef6283ddd043aa7f4348b9b372344d0485fd4e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_592/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_0.7_0.0_MultiDynamics_arc_6_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_593/meta.json b/RH5_dataset_threads_5000eps/frames/episode_593/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d65170caf39ce43545959034e38a193fb9d7ef4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_593/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_-2.0_0.0_MultiDynamics_arc_19_0.050_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_594/meta.json b/RH5_dataset_threads_5000eps/frames/episode_594/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f9c7109b5c896a83b92e344504da2126b25005
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_594/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_0.8_0.0_MultiDynamics_arc_8_0.119_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_595/meta.json b/RH5_dataset_threads_5000eps/frames/episode_595/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b28ca3ce0e057a9ff263050e6a0edaabc2f9c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_595/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_0.9_0.0_MultiDynamics_arc_8_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_596/meta.json b/RH5_dataset_threads_5000eps/frames/episode_596/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd3d3c81783f079a9a36296f5786febb37e302f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_596/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.106:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.106,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.0_0.0_MultiDynamics_arc_9_0.106_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_597/meta.json b/RH5_dataset_threads_5000eps/frames/episode_597/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d8a5b53d0054b299a78e0eef1dfa0cb0b44293
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_597/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.1_0.0_MultiDynamics_arc_11_0.086_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_598/meta.json b/RH5_dataset_threads_5000eps/frames/episode_598/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e8b593bdc113f9e6eed2bc605e2e66880e7c4c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_598/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.2_0.0_MultiDynamics_arc_11_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_599/meta.json b/RH5_dataset_threads_5000eps/frames/episode_599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..725d969eed8f5d66f53eef2ffbdb81a7a0b8fcc6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_599/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.3_0.0_MultiDynamics_arc_12_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_6/meta.json b/RH5_dataset_threads_5000eps/frames/episode_6/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f24a0e1a5b77dfe63d5662d0ca69b97cd36a6c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_6/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.543:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_2.2_0.0_0.0_MultiDynamics_3_0.543_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_60/meta.json b/RH5_dataset_threads_5000eps/frames/episode_60/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7274be68548a6ff30fca5dbe3ec7076feec3037
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_60/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.0_0.0_0.0_MultiDynamics_1_0.402_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_600/meta.json b/RH5_dataset_threads_5000eps/frames/episode_600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0b565b9e3fb3650fb46cb2bae2dc412c565465c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_600/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.073:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.073,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.4_0.0_MultiDynamics_arc_13_0.073_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_601/meta.json b/RH5_dataset_threads_5000eps/frames/episode_601/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cedf182d698de7b0b3c6106cd887daa44fca743
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_601/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.5_0.0_MultiDynamics_arc_14_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_602/meta.json b/RH5_dataset_threads_5000eps/frames/episode_602/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ecc471886478e3d73f92cbd7476df03c3e2da2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_602/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.6_0.0_MultiDynamics_arc_16_0.059_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_603/meta.json b/RH5_dataset_threads_5000eps/frames/episode_603/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b890df6ed3ac6e1d9fd6d8d1147bc3004c4e05f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_603/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.059:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.059,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.7_0.0_MultiDynamics_arc_16_0.059_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_604/meta.json b/RH5_dataset_threads_5000eps/frames/episode_604/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d081c252fd92196b2bb8e6cd9ea3362a65d40afe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_604/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.056:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.056,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.8_0.0_MultiDynamics_arc_17_0.056_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_605/meta.json b/RH5_dataset_threads_5000eps/frames/episode_605/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..601c78d5b3610545a5083c8048c1dcf4bd1f08ae
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_605/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-0.6_0.0_MultiDynamics_arc_5_0.210_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_606/meta.json b/RH5_dataset_threads_5000eps/frames/episode_606/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11c8f968fcf87cb8a98bdd3a8a2a9ea61bfcc7bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_606/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.053:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.053,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_1.9_0.0_MultiDynamics_arc_18_0.053_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_607/meta.json b/RH5_dataset_threads_5000eps/frames/episode_607/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebd9f32d4ab4fd22b15103e4a51f1579012f19b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_607/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-0.7_0.0_MultiDynamics_arc_6_0.175_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_608/meta.json b/RH5_dataset_threads_5000eps/frames/episode_608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..daac47d48ae2aeff33306159b26252bec3fd1b75
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_608/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.050:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.05,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.4_2.0_0.0_MultiDynamics_arc_19_0.050_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_609/meta.json b/RH5_dataset_threads_5000eps/frames/episode_609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca87d1fd706ae87ce8e8c816645136a07aa5c00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_609/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-0.8_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_61/meta.json b/RH5_dataset_threads_5000eps/frames/episode_61/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..701452d507b70da7d1523cc76d26595e3806d5a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_61/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.1_0.0_0.0_MultiDynamics_1_0.570_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_610/meta.json b/RH5_dataset_threads_5000eps/frames/episode_610/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45136fb17f852901317ff825af2b7012128684d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_610/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-0.9_0.0_MultiDynamics_arc_8_0.131_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_611/meta.json b/RH5_dataset_threads_5000eps/frames/episode_611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03c097e5253c3523051fdf0dd3e7e3b56f0a84e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_611/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.0_0.0_MultiDynamics_arc_9_0.117_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_612/meta.json b/RH5_dataset_threads_5000eps/frames/episode_612/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d35846a0724b63c68f571bcc32b6d147b08b903
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_612/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.1_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_613/meta.json b/RH5_dataset_threads_5000eps/frames/episode_613/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d13f674ebd0e8e3eeb37e08978c35c08a8f1373
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_613/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.2_0.0_MultiDynamics_arc_11_0.095_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_614/meta.json b/RH5_dataset_threads_5000eps/frames/episode_614/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6cf8a09477e1f948395919048f7d92f3c2a51b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_614/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.3_0.0_MultiDynamics_arc_12_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_615/meta.json b/RH5_dataset_threads_5000eps/frames/episode_615/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c842ab0febdec7c17828e884337f2240b1b1aae1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_615/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.4_0.0_MultiDynamics_arc_13_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_616/meta.json b/RH5_dataset_threads_5000eps/frames/episode_616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c107cee24ee017fb8448e50f9345a578ffc018a4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_616/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.5_0.0_MultiDynamics_arc_14_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_617/meta.json b/RH5_dataset_threads_5000eps/frames/episode_617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cbf0cba412cc11707bc6772fcbff5774b96c7a1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_617/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.6_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_618/meta.json b/RH5_dataset_threads_5000eps/frames/episode_618/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4705b1a73239c4693c1e5f4d86a863d4f26e13
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_618/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.7_0.0_MultiDynamics_arc_16_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_619/meta.json b/RH5_dataset_threads_5000eps/frames/episode_619/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..798d06db9d79b659d090348993408e152093cbf6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_619/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.8_0.0_MultiDynamics_arc_17_0.062_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_62/meta.json b/RH5_dataset_threads_5000eps/frames/episode_62/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07dbeebcc61de88e3109fe28f8c4bf4bb5dc164
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_62/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.2_0.0_0.0_MultiDynamics_1_0.695_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_620/meta.json b/RH5_dataset_threads_5000eps/frames/episode_620/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3725ca2dc09d80e2175469745cd2af1d047d27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_620/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.210:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.21,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_0.6_0.0_MultiDynamics_arc_5_0.210_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_621/meta.json b/RH5_dataset_threads_5000eps/frames/episode_621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db25baf2786f76a954308d6e39339dd91f4cf50
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_621/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-1.9_0.0_MultiDynamics_arc_18_0.058_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_622/meta.json b/RH5_dataset_threads_5000eps/frames/episode_622/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d7f51e37a657b263c4775c8e2b083cfb1a23c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_622/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.175:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.175,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_0.7_0.0_MultiDynamics_arc_6_0.175_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_623/meta.json b/RH5_dataset_threads_5000eps/frames/episode_623/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e683edb7c65330465149ab54118d67aba8637e7e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_623/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_-2.0_0.0_MultiDynamics_arc_19_0.055_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_624/meta.json b/RH5_dataset_threads_5000eps/frames/episode_624/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35523eec44c497cc35714466ea0fb038a2478d57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_624/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_0.8_0.0_MultiDynamics_arc_8_0.131_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_625/meta.json b/RH5_dataset_threads_5000eps/frames/episode_625/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1135ab0b6cc3e870f937f57c7a06db8d540173ed
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_625/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.131:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.131,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_0.9_0.0_MultiDynamics_arc_8_0.131_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_626/meta.json b/RH5_dataset_threads_5000eps/frames/episode_626/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..236fbaa409167de250a014ab5d6354b5fa3abae0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_626/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.117:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.117,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.0_0.0_MultiDynamics_arc_9_0.117_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_627/meta.json b/RH5_dataset_threads_5000eps/frames/episode_627/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8bc364528a395be9489ddf4fe6ab4517870b18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_627/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.1_0.0_MultiDynamics_arc_11_0.095_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_628/meta.json b/RH5_dataset_threads_5000eps/frames/episode_628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79fabe9d5ab89cb88037f3fcbcb185792415f507
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_628/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.095:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.095,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.2_0.0_MultiDynamics_arc_11_0.095_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_629/meta.json b/RH5_dataset_threads_5000eps/frames/episode_629/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4533459ee6f0c08722d4a9908c12ed3885cec5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_629/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.3_0.0_MultiDynamics_arc_12_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_63/meta.json b/RH5_dataset_threads_5000eps/frames/episode_63/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..699f740f2d3f41246204e912ec6ea56f4262eab9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_63/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.062,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.3_0.0_0.0_MultiDynamics_2_0.350_0.062_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_630/meta.json b/RH5_dataset_threads_5000eps/frames/episode_630/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..607e99cd45e1aba6b13f5d555474846f1de92bc9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_630/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.4_0.0_MultiDynamics_arc_13_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_631/meta.json b/RH5_dataset_threads_5000eps/frames/episode_631/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ffded298a7fb9b7a33d9f0265d6aa50a640bb2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_631/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.5_0.0_MultiDynamics_arc_14_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_632/meta.json b/RH5_dataset_threads_5000eps/frames/episode_632/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf375a17d48e2219af3d356784f8a9e61179363c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_632/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.6_0.0_MultiDynamics_arc_16_0.066_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_633/meta.json b/RH5_dataset_threads_5000eps/frames/episode_633/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7363c8959896ec2163e2013b5bee9e8504f17430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_633/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.7_0.0_MultiDynamics_arc_16_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_634/meta.json b/RH5_dataset_threads_5000eps/frames/episode_634/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea5dda70a04502c72e2838d6a1cdd2040425289a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_634/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.062:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.062,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.8_0.0_MultiDynamics_arc_17_0.062_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_635/meta.json b/RH5_dataset_threads_5000eps/frames/episode_635/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..088c289c20c8fdf4052b36e74b34112616bc3d32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_635/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-0.6_0.0_MultiDynamics_arc_5_0.230_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_636/meta.json b/RH5_dataset_threads_5000eps/frames/episode_636/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c1528242933e1d07b5aee5e158c0263fd98635
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_636/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.058:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.058,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_1.9_0.0_MultiDynamics_arc_18_0.058_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_637/meta.json b/RH5_dataset_threads_5000eps/frames/episode_637/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d1515e3debe64136c5ff039a03e43e57571e84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_637/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-0.7_0.0_MultiDynamics_arc_6_0.192_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_638/meta.json b/RH5_dataset_threads_5000eps/frames/episode_638/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b988f518bc939059fde1af5f5901791a749010a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_638/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.055:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.055,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.5_2.0_0.0_MultiDynamics_arc_19_0.055_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_639/meta.json b/RH5_dataset_threads_5000eps/frames/episode_639/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a8d220a0f1c09b8db13f5573bf66e4661ebed1b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_639/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-0.8_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_64/meta.json b/RH5_dataset_threads_5000eps/frames/episode_64/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..800d4ac71282016538fe751c440d31e472be0993
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_64/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.062,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.4_0.0_0.0_MultiDynamics_2_0.401_0.062_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_640/meta.json b/RH5_dataset_threads_5000eps/frames/episode_640/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6e8ddc5ebfedfa72253e3016c03d288785544f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_640/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-0.9_0.0_MultiDynamics_arc_8_0.144_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_641/meta.json b/RH5_dataset_threads_5000eps/frames/episode_641/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c71ec197e1d2487e649c5ac5588a24225f8ef7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_641/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.0_0.0_MultiDynamics_arc_9_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_642/meta.json b/RH5_dataset_threads_5000eps/frames/episode_642/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41acc84f438c33d28fd239486a637be2a2e407b8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_642/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.1_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_643/meta.json b/RH5_dataset_threads_5000eps/frames/episode_643/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da04af1fe80afb6c3928e976103e1edbcaee0a29
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_643/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.2_0.0_MultiDynamics_arc_11_0.105_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_644/meta.json b/RH5_dataset_threads_5000eps/frames/episode_644/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f9aa5595089b6740b222b7169e9e0ce7ee0b77
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_644/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.3_0.0_MultiDynamics_arc_12_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_645/meta.json b/RH5_dataset_threads_5000eps/frames/episode_645/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64e4379c760e6c3066a4a212a92c9ad4420602e3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_645/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.4_0.0_MultiDynamics_arc_13_0.088_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_646/meta.json b/RH5_dataset_threads_5000eps/frames/episode_646/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e00e659d2b2581c500645899850cf5b10a1e467
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_646/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.5_0.0_MultiDynamics_arc_14_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_647/meta.json b/RH5_dataset_threads_5000eps/frames/episode_647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbbb577adde716477a9f8597a9e95ae9685cae1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_647/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.6_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_648/meta.json b/RH5_dataset_threads_5000eps/frames/episode_648/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df471038a6b3074c7a0cbe59d3e5e26ad387dd9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_648/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.7_0.0_MultiDynamics_arc_16_0.072_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_649/meta.json b/RH5_dataset_threads_5000eps/frames/episode_649/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe6193b76767ea8b686bfc331d263eb1f4104bd6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_649/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.8_0.0_MultiDynamics_arc_17_0.068_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_65/meta.json b/RH5_dataset_threads_5000eps/frames/episode_65/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fa018bde54755923d26b53118044ff4e4a2ca27
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_65/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.5_0.0_0.0_MultiDynamics_2_0.480_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_650/meta.json b/RH5_dataset_threads_5000eps/frames/episode_650/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9be7e20692d6467f15132633f896bc0bca447311
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_650/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.230:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.23,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_0.6_0.0_MultiDynamics_arc_5_0.230_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_651/meta.json b/RH5_dataset_threads_5000eps/frames/episode_651/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5767a52632cba39ad6dab7cf2354c7e85bd8fbfd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_651/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-1.9_0.0_MultiDynamics_arc_18_0.064_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_652/meta.json b/RH5_dataset_threads_5000eps/frames/episode_652/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..471f2225edeb776b4d20bd03d174fc4cb45f377b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_652/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.192:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.192,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_0.7_0.0_MultiDynamics_arc_6_0.192_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_653/meta.json b/RH5_dataset_threads_5000eps/frames/episode_653/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..006ce4feae8f0ff4b55639ae7ae760c0d502054b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_653/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_-2.0_0.0_MultiDynamics_arc_19_0.061_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_654/meta.json b/RH5_dataset_threads_5000eps/frames/episode_654/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c532535f0e58311d2d35af516c00a349a6f79f2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_654/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_0.8_0.0_MultiDynamics_arc_8_0.144_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_655/meta.json b/RH5_dataset_threads_5000eps/frames/episode_655/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a14a484aaf5658f60045b118e10cd30207d475e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_655/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.144:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.144,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_0.9_0.0_MultiDynamics_arc_8_0.144_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_656/meta.json b/RH5_dataset_threads_5000eps/frames/episode_656/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca756292ffaca5ec8a25acb612a2fe85a112c12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_656/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.0_0.0_MultiDynamics_arc_9_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_657/meta.json b/RH5_dataset_threads_5000eps/frames/episode_657/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d722dc3f29f2ad237950b1da9de08e1c7c064ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_657/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.1_0.0_MultiDynamics_arc_11_0.105_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_658/meta.json b/RH5_dataset_threads_5000eps/frames/episode_658/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa94f678d4dec8cf1f05540ae84434f31768b025
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_658/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.105:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.105,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.2_0.0_MultiDynamics_arc_11_0.105_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_659/meta.json b/RH5_dataset_threads_5000eps/frames/episode_659/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a4d02638b12c9c8c9d97e04922adfd41c7a5500
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_659/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.3_0.0_MultiDynamics_arc_12_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_66/meta.json b/RH5_dataset_threads_5000eps/frames/episode_66/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..407ababb28c6911f9dd4b3f683c75e4b1464d647
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_66/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.6_0.0_0.0_MultiDynamics_2_0.530_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_660/meta.json b/RH5_dataset_threads_5000eps/frames/episode_660/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b0aa59f9b52e688d4fc989c890692c06ff0089
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_660/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.088:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.088,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.4_0.0_MultiDynamics_arc_13_0.088_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_661/meta.json b/RH5_dataset_threads_5000eps/frames/episode_661/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..254760f8946eed5730537121c2d9757e86506549
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_661/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.5_0.0_MultiDynamics_arc_14_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_662/meta.json b/RH5_dataset_threads_5000eps/frames/episode_662/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b11d2dfe96ab1ed73618750bfe7af68d8d982e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_662/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.6_0.0_MultiDynamics_arc_16_0.072_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_663/meta.json b/RH5_dataset_threads_5000eps/frames/episode_663/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..399f4c49f75d6b18ac4a1c145752abfc665e6343
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_663/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.072:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.072,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.7_0.0_MultiDynamics_arc_16_0.072_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_664/meta.json b/RH5_dataset_threads_5000eps/frames/episode_664/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d992e53ccb986712fe84338751ead4bc06dd34
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_664/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.068:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.068,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.8_0.0_MultiDynamics_arc_17_0.068_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_665/meta.json b/RH5_dataset_threads_5000eps/frames/episode_665/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5cbc643452d42b3960ba95f546eb898449e37f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_665/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-0.6_0.0_MultiDynamics_arc_5_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_666/meta.json b/RH5_dataset_threads_5000eps/frames/episode_666/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4769e2c0033315e5c89a818c117cfaba6006b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_666/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.064:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.064,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_1.9_0.0_MultiDynamics_arc_18_0.064_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_667/meta.json b/RH5_dataset_threads_5000eps/frames/episode_667/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd41fbfa6246f030b5661aa49e860290ee612b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_667/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-0.7_0.0_MultiDynamics_arc_6_0.208_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_668/meta.json b/RH5_dataset_threads_5000eps/frames/episode_668/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d71eb6412982fa978647f7951e376b3f59fb2f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_668/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.061:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.061,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.6_2.0_0.0_MultiDynamics_arc_19_0.061_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_669/meta.json b/RH5_dataset_threads_5000eps/frames/episode_669/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c948235f03c35a3bd5e103556cc84dcb121d6aeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_669/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-0.8_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_67/meta.json b/RH5_dataset_threads_5000eps/frames/episode_67/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22c12a800f4c38804bca9bc57c40136e741d221
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_67/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.062,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.7_0.0_0.0_MultiDynamics_2_0.580_0.062_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_670/meta.json b/RH5_dataset_threads_5000eps/frames/episode_670/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c0321893f27b95af8cb49f01d79b2977ddba12
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_670/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-0.9_0.0_MultiDynamics_arc_8_0.156_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_671/meta.json b/RH5_dataset_threads_5000eps/frames/episode_671/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e99945f21b45c628eca17632720bafb8c34d7d1f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_671/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.0_0.0_MultiDynamics_arc_9_0.139_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_672/meta.json b/RH5_dataset_threads_5000eps/frames/episode_672/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c552f9d9cb9063ddf4e5b521224c75255d1bdb9d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_672/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.1_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_673/meta.json b/RH5_dataset_threads_5000eps/frames/episode_673/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3ad60f5e76bae82c6fcad7a55f59020e37f6ec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_673/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.2_0.0_MultiDynamics_arc_11_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_674/meta.json b/RH5_dataset_threads_5000eps/frames/episode_674/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..495fef1879db1fc1455a7644000da27e8837c99d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_674/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.3_0.0_MultiDynamics_arc_12_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_675/meta.json b/RH5_dataset_threads_5000eps/frames/episode_675/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff00207f88f26ffebb9b6f712e55fe9ff5774b5e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_675/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.4_0.0_MultiDynamics_arc_13_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_676/meta.json b/RH5_dataset_threads_5000eps/frames/episode_676/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e3280287a0bb192e9a8314d715d392d6296cb1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_676/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.5_0.0_MultiDynamics_arc_14_0.089_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_677/meta.json b/RH5_dataset_threads_5000eps/frames/episode_677/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a112e5626b5a2421324c6c82aee5e71b5d4af98
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_677/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.6_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_678/meta.json b/RH5_dataset_threads_5000eps/frames/episode_678/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cf6baa68d2480f4211b858cfe8773150a964ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_678/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.7_0.0_MultiDynamics_arc_16_0.078_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_679/meta.json b/RH5_dataset_threads_5000eps/frames/episode_679/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94aebc7d43306a866d3159117476fa9e1af985ee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_679/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.8_0.0_MultiDynamics_arc_17_0.074_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_68/meta.json b/RH5_dataset_threads_5000eps/frames/episode_68/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b12cae87d549e68077f58565499057e97e139b28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_68/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.062,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_1.8_0.0_0.0_MultiDynamics_2_0.630_0.062_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_680/meta.json b/RH5_dataset_threads_5000eps/frames/episode_680/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0afe68a3f93775028b07ca7cec47275878a7b2e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_680/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_0.6_0.0_MultiDynamics_arc_5_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_681/meta.json b/RH5_dataset_threads_5000eps/frames/episode_681/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e7eb77c23165b425dab49f21cf5a0a3fd1d06fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_681/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-1.9_0.0_MultiDynamics_arc_18_0.069_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_682/meta.json b/RH5_dataset_threads_5000eps/frames/episode_682/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c930f4a7f041c02a7c9c2ae30b03e053bea2d88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_682/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.208:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.208,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_0.7_0.0_MultiDynamics_arc_6_0.208_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_683/meta.json b/RH5_dataset_threads_5000eps/frames/episode_683/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcfcd716604fce08cee2d84ac0f8c5858d54434b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_683/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_-2.0_0.0_MultiDynamics_arc_19_0.066_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_684/meta.json b/RH5_dataset_threads_5000eps/frames/episode_684/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b656dbfa537d3696d2acee4773900214c7634c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_684/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_0.8_0.0_MultiDynamics_arc_8_0.156_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_685/meta.json b/RH5_dataset_threads_5000eps/frames/episode_685/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1905dc0ff091eae5f27501708b33e110aa4f0bfb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_685/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.156:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.156,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_0.9_0.0_MultiDynamics_arc_8_0.156_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_686/meta.json b/RH5_dataset_threads_5000eps/frames/episode_686/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bfd692898db3d1f9599ad79aed997287dffc36d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_686/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.139:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.0_0.0_MultiDynamics_arc_9_0.139_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_687/meta.json b/RH5_dataset_threads_5000eps/frames/episode_687/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d1bbffe6e3b4a925959f291f31341e70dcc3a0a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_687/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.1_0.0_MultiDynamics_arc_11_0.114_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_688/meta.json b/RH5_dataset_threads_5000eps/frames/episode_688/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..240160e2fe44a49be231e92225780e1d6fa973fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_688/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.2_0.0_MultiDynamics_arc_11_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_689/meta.json b/RH5_dataset_threads_5000eps/frames/episode_689/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca33c4c87200763774bb8551a5c66ea1f85c76d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_689/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.3_0.0_MultiDynamics_arc_12_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_69/meta.json b/RH5_dataset_threads_5000eps/frames/episode_69/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f6ba393596cc856e3297b2371afe2e99bd27e1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_69/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.0_0.0_0.0_MultiDynamics_3_0.477_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_690/meta.json b/RH5_dataset_threads_5000eps/frames/episode_690/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7353b5e286c0949c9ccc3a13b29b8f4adcc1afc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_690/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.4_0.0_MultiDynamics_arc_13_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_691/meta.json b/RH5_dataset_threads_5000eps/frames/episode_691/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9687e707b613a18eea868ab31a967a994469096
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_691/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.089:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.089,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.7,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.5_0.0_MultiDynamics_arc_14_0.089_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_692/meta.json b/RH5_dataset_threads_5000eps/frames/episode_692/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f444a602ddc0a7f113ef664ad844146cdd67a7a9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_692/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.6_0.0_MultiDynamics_arc_16_0.078_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_693/meta.json b/RH5_dataset_threads_5000eps/frames/episode_693/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..779b203ac0b480ba951901d2b116fec0c51fd958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_693/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.078:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.078,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.7,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.7_0.0_MultiDynamics_arc_16_0.078_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_694/meta.json b/RH5_dataset_threads_5000eps/frames/episode_694/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f0b450d57f60d57e78f2745898e6d29b3575c4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_694/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.074:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.074,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.8_0.0_MultiDynamics_arc_17_0.074_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_695/meta.json b/RH5_dataset_threads_5000eps/frames/episode_695/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a534cdc19b42e55c5154bd93459602bc95cd8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_695/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-0.6_0.0_MultiDynamics_arc_5_0.270_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_696/meta.json b/RH5_dataset_threads_5000eps/frames/episode_696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a1f90560a7cb892b25b3c802b88ee35ac7b87d4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_696/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.069:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.069,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_1.9_0.0_MultiDynamics_arc_18_0.069_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_697/meta.json b/RH5_dataset_threads_5000eps/frames/episode_697/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12aaf29050f7c84b25710aad06e767df15963771
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_697/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.8,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-0.7_0.0_MultiDynamics_arc_6_0.225_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_698/meta.json b/RH5_dataset_threads_5000eps/frames/episode_698/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9be504c0eb76c804c12be5513a68b9726dcb02
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_698/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.066:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.7,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.066,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.7_2.0_0.0_MultiDynamics_arc_19_0.066_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_699/meta.json b/RH5_dataset_threads_5000eps/frames/episode_699/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6b03e8b543c3a1ba276ed82325e051e1d078332
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_699/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.8,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-0.8_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_7/meta.json b/RH5_dataset_threads_5000eps/frames/episode_7/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f7ea6d7fee5515ae36b66741637e8bc26544b1d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_7/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.2_0.0_0.0_MultiDynamics_1_0.695_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_70/meta.json b/RH5_dataset_threads_5000eps/frames/episode_70/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2508e1c429f27dd6f053d6c0ec5768ae419f375b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_70/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.510:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.1_0.0_0.0_MultiDynamics_3_0.510_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_700/meta.json b/RH5_dataset_threads_5000eps/frames/episode_700/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df564b8405982c0bb74afb327151f825ce4ea44
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_700/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.8,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-0.9_0.0_MultiDynamics_arc_8_0.169_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_701/meta.json b/RH5_dataset_threads_5000eps/frames/episode_701/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c2d14980d34c8ddb678f8518aada60889bf57c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_701/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.8,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.0_0.0_MultiDynamics_arc_9_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_702/meta.json b/RH5_dataset_threads_5000eps/frames/episode_702/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37f126574be2281d811de6d32df00760109dd62
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_702/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.8,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.1_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_703/meta.json b/RH5_dataset_threads_5000eps/frames/episode_703/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa37a45a69b2b0fb97a1a0b52b425b05e461d24
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_703/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.8,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.2_0.0_MultiDynamics_arc_11_0.123_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_704/meta.json b/RH5_dataset_threads_5000eps/frames/episode_704/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1f667f4482b03884eee5c77af30141e9ea49ac
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_704/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.8,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.3_0.0_MultiDynamics_arc_12_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_705/meta.json b/RH5_dataset_threads_5000eps/frames/episode_705/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45038ad42cc450fc61318c568d468ece5c515d89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_705/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.8,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.4_0.0_MultiDynamics_arc_13_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_706/meta.json b/RH5_dataset_threads_5000eps/frames/episode_706/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d7b93281a579d812feae2e3c904dc6ee229609
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_706/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.8,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.5_0.0_MultiDynamics_arc_14_0.096_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_707/meta.json b/RH5_dataset_threads_5000eps/frames/episode_707/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87134a7339e680b9e90b984f17eab38495033909
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_707/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.8,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.6_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_708/meta.json b/RH5_dataset_threads_5000eps/frames/episode_708/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8185cef840c9f1da1394124302ea54ceba0fd968
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_708/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.8,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.7_0.0_MultiDynamics_arc_16_0.084_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_709/meta.json b/RH5_dataset_threads_5000eps/frames/episode_709/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..176b487144580bfbfb411e66653001cd2ce67e88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_709/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.8,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.8_0.0_MultiDynamics_arc_17_0.079_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_71/meta.json b/RH5_dataset_threads_5000eps/frames/episode_71/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..409d9f0c2b9a326958c1cbee64ec3324921821bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_71/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.543:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.2_0.0_0.0_MultiDynamics_3_0.543_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_710/meta.json b/RH5_dataset_threads_5000eps/frames/episode_710/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a6247f6f895d000f439dbc609f09b5c4a1e3fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_710/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.270:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.27,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.8,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_0.6_0.0_MultiDynamics_arc_5_0.270_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_711/meta.json b/RH5_dataset_threads_5000eps/frames/episode_711/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5503c37aaf13ac3b31eadbc19fc34d5f77e179e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_711/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.8,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-1.9_0.0_MultiDynamics_arc_18_0.075_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_712/meta.json b/RH5_dataset_threads_5000eps/frames/episode_712/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32589059b29350dbf76c05f76a2fea5b8d0593c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_712/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.225:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.225,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.8,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_0.7_0.0_MultiDynamics_arc_6_0.225_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_713/meta.json b/RH5_dataset_threads_5000eps/frames/episode_713/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53abdd331768ccc3956a31b2e21d27f1b245c6a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_713/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.8,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_-2.0_0.0_MultiDynamics_arc_19_0.071_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_714/meta.json b/RH5_dataset_threads_5000eps/frames/episode_714/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f41dc8490773ff972711a644129e2436573043
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_714/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.8,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_0.8_0.0_MultiDynamics_arc_8_0.169_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_715/meta.json b/RH5_dataset_threads_5000eps/frames/episode_715/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f856e5f8e8ce3433b975fabfcf05720481ac2085
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_715/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.169:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.169,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.8,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_0.9_0.0_MultiDynamics_arc_8_0.169_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_716/meta.json b/RH5_dataset_threads_5000eps/frames/episode_716/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31ec7b1e0dc24ea9c1384f4252ed8c3564537c8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_716/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.8,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.0_0.0_MultiDynamics_arc_9_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_717/meta.json b/RH5_dataset_threads_5000eps/frames/episode_717/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93edd57bcb1b2a6fbe21e00baa23b51b17e16766
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_717/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.8,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.1_0.0_MultiDynamics_arc_11_0.123_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_718/meta.json b/RH5_dataset_threads_5000eps/frames/episode_718/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b455945fa93ef037ed16cdae3bbb0fd393945ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_718/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.123:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.123,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.8,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.2_0.0_MultiDynamics_arc_11_0.123_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_719/meta.json b/RH5_dataset_threads_5000eps/frames/episode_719/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e4dc791f54b89a54004e0c87541177a8ae0a8d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_719/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.8,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.3_0.0_MultiDynamics_arc_12_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_72/meta.json b/RH5_dataset_threads_5000eps/frames/episode_72/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4fdb4676c2b63b8fb063f4b6b297c75dd4d6d3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_72/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.577:0.062,MultiDynamics_s:1:0.71:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.3_0.0_0.0_MultiDynamics_3_0.577_0.062_MultiDynamics_s_1_0.71_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_720/meta.json b/RH5_dataset_threads_5000eps/frames/episode_720/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ffbd432e3e19febb3094bcce2666651f3131694
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_720/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.8,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.4_0.0_MultiDynamics_arc_13_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_721/meta.json b/RH5_dataset_threads_5000eps/frames/episode_721/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a28012cde17802f5c7b16eeca1a9835829438eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_721/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.096:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.096,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.8,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.5_0.0_MultiDynamics_arc_14_0.096_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_722/meta.json b/RH5_dataset_threads_5000eps/frames/episode_722/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4055fe7ecc802cd747c2a7989ce2306b22f3ffdd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_722/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.8,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.6_0.0_MultiDynamics_arc_16_0.084_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_723/meta.json b/RH5_dataset_threads_5000eps/frames/episode_723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00fa48e935fe4c129be597d254a18c0890aae48f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_723/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.084:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.084,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.8,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.7_0.0_MultiDynamics_arc_16_0.084_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_724/meta.json b/RH5_dataset_threads_5000eps/frames/episode_724/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0aac2d7b3ae766281bbf2826cf0df17b2bc4f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_724/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.079:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.079,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.8,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.8_0.0_MultiDynamics_arc_17_0.079_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_725/meta.json b/RH5_dataset_threads_5000eps/frames/episode_725/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c942a17c2b40e9671a61d1319e02561bef185a89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_725/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.9,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-0.6_0.0_MultiDynamics_arc_5_0.290_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_726/meta.json b/RH5_dataset_threads_5000eps/frames/episode_726/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c207283f8f0bc19c47f0116b81b3f8cfa5d5652
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_726/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.075:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.075,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.8,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_1.9_0.0_MultiDynamics_arc_18_0.075_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_727/meta.json b/RH5_dataset_threads_5000eps/frames/episode_727/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ee620a3ff73c5a71c7928b16fec725af2ad87c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_727/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.9,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-0.7_0.0_MultiDynamics_arc_6_0.242_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_728/meta.json b/RH5_dataset_threads_5000eps/frames/episode_728/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b245a86048d13fd8f84a978b125a504af33c41
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_728/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.071:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.8,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.071,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.8,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.8_2.0_0.0_MultiDynamics_arc_19_0.071_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_729/meta.json b/RH5_dataset_threads_5000eps/frames/episode_729/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..904da570474b2ef5b4e0867c10a67cd7fb71d83f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_729/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.9,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-0.8_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_73/meta.json b/RH5_dataset_threads_5000eps/frames/episode_73/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b472759e0f8e4f0c32653f95f6daf60725a765
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_73/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.630:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.4_0.0_0.0_MultiDynamics_3_0.630_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_730/meta.json b/RH5_dataset_threads_5000eps/frames/episode_730/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c90d0d7151d9da8cb5458da4666abcece76384b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_730/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.9,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-0.9_0.0_MultiDynamics_arc_8_0.181_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_731/meta.json b/RH5_dataset_threads_5000eps/frames/episode_731/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0723e4d98b84e908561480b074063a5d8feac671
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_731/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.9,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.0_0.0_MultiDynamics_arc_9_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_732/meta.json b/RH5_dataset_threads_5000eps/frames/episode_732/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24810bfcd962f3aaafaa91a7765ff1e2626238e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_732/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.9,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.1_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_733/meta.json b/RH5_dataset_threads_5000eps/frames/episode_733/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34ccc50c931b15ce7794825ca3cf5e9f55fcae7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_733/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.9,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.2_0.0_MultiDynamics_arc_11_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_734/meta.json b/RH5_dataset_threads_5000eps/frames/episode_734/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e9ba7e11cd448f78fa3ddfcfce67f5f048d734
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_734/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.9,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.3_0.0_MultiDynamics_arc_12_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_735/meta.json b/RH5_dataset_threads_5000eps/frames/episode_735/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffbba4a1683a62c55f391177d501d8f7b835905
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_735/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.9,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.4_0.0_MultiDynamics_arc_13_0.112_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_736/meta.json b/RH5_dataset_threads_5000eps/frames/episode_736/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..210534fd1ec2c2add6bcb89ae76fc6cd08f4be8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_736/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.9,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.5_0.0_MultiDynamics_arc_14_0.104_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_737/meta.json b/RH5_dataset_threads_5000eps/frames/episode_737/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa598f3d4160419fd34abfe22f11c7fe03b68eec
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_737/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.9,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.6_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_738/meta.json b/RH5_dataset_threads_5000eps/frames/episode_738/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3001d0515dd3b5dd7ac21d1b420c6fc4e5836c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_738/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.9,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.7_0.0_MultiDynamics_arc_16_0.091_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_739/meta.json b/RH5_dataset_threads_5000eps/frames/episode_739/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f8f5452cf990e350f6e216f6a2de01737f2490
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_739/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.9,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.8_0.0_MultiDynamics_arc_17_0.085_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_74/meta.json b/RH5_dataset_threads_5000eps/frames/episode_74/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c0addfa3ebabd830eff76509588eb9d5931e8c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_74/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.490:0.062,MultiDynamics_s:3:0.61:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.5_0.0_0.0_MultiDynamics_4_0.490_0.062_MultiDynamics_s_3_0.61_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_740/meta.json b/RH5_dataset_threads_5000eps/frames/episode_740/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b4a0a181857b5d3ac0a5b39842d6583db6e7eeb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_740/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.290:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.29,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (1.9,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_0.6_0.0_MultiDynamics_arc_5_0.290_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_741/meta.json b/RH5_dataset_threads_5000eps/frames/episode_741/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7effc8980aa404eb825779951e73c2b071e6b84f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_741/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.9,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-1.9_0.0_MultiDynamics_arc_18_0.081_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_742/meta.json b/RH5_dataset_threads_5000eps/frames/episode_742/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6f70d341de45bc92cc74be73e56d7cba714ed3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_742/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.242:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.242,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (1.9,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_0.7_0.0_MultiDynamics_arc_6_0.242_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_743/meta.json b/RH5_dataset_threads_5000eps/frames/episode_743/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40d79759dfa666568b1bdada97fb0ddf9a01e815
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_743/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.9,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_-2.0_0.0_MultiDynamics_arc_19_0.076_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_744/meta.json b/RH5_dataset_threads_5000eps/frames/episode_744/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6715bb56310e4cff6c6ead53790436b08ffa3f32
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_744/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.9,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_0.8_0.0_MultiDynamics_arc_8_0.181_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_745/meta.json b/RH5_dataset_threads_5000eps/frames/episode_745/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f34639523c30e029678687cbb6039b0c8c0e9583
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_745/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.181:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.181,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (1.9,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_0.9_0.0_MultiDynamics_arc_8_0.181_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_746/meta.json b/RH5_dataset_threads_5000eps/frames/episode_746/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5810925a9c23fb6bf0100cb98c42e30e349147fe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_746/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.161:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (1.9,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.0_0.0_MultiDynamics_arc_9_0.161_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_747/meta.json b/RH5_dataset_threads_5000eps/frames/episode_747/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50e073b6420ca4bfa6fdb49c3ae58708ceb6f18
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_747/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.9,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.1_0.0_MultiDynamics_arc_11_0.132_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_748/meta.json b/RH5_dataset_threads_5000eps/frames/episode_748/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..991b0a66ef0cab7e25e4ae9f1961f680d64d29cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_748/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (1.9,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.2_0.0_MultiDynamics_arc_11_0.132_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_749/meta.json b/RH5_dataset_threads_5000eps/frames/episode_749/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96c107e273c8b5e252d6a08a4568a4473e9c6b67
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_749/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (1.9,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.3_0.0_MultiDynamics_arc_12_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_75/meta.json b/RH5_dataset_threads_5000eps/frames/episode_75/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..025fe7280db2ed65f778df6b8edce2a10a868f7b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_75/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.508:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.6_0.0_0.0_MultiDynamics_4_0.508_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_750/meta.json b/RH5_dataset_threads_5000eps/frames/episode_750/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7422704405e8990d8a03d439a5a5efcbb6021c72
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_750/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.112:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.112,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (1.9,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.4_0.0_MultiDynamics_arc_13_0.112_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_751/meta.json b/RH5_dataset_threads_5000eps/frames/episode_751/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb7763f820f436447b9f7821d108838cc5230a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_751/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.104:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.104,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (1.9,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.5_0.0_MultiDynamics_arc_14_0.104_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_752/meta.json b/RH5_dataset_threads_5000eps/frames/episode_752/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c788eae324a04c7aee8f7b8a6294649b9823519b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_752/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.9,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.6_0.0_MultiDynamics_arc_16_0.091_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_753/meta.json b/RH5_dataset_threads_5000eps/frames/episode_753/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4e3a43bfefe7d3b890708ef7677f8a8354e7c2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_753/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.091:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (1.9,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.7_0.0_MultiDynamics_arc_16_0.091_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_754/meta.json b/RH5_dataset_threads_5000eps/frames/episode_754/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..564d3e4934b39dfdf9632d99839446ee65413bdc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_754/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.085:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.085,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (1.9,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.8_0.0_MultiDynamics_arc_17_0.085_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_755/meta.json b/RH5_dataset_threads_5000eps/frames/episode_755/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5d3c07d5b2720eb76b88f05791040fe85454aa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_755/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.0,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-0.6_0.0_MultiDynamics_arc_5_0.310_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_756/meta.json b/RH5_dataset_threads_5000eps/frames/episode_756/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..468a5b7ec501506415bc07061e33dc006df99182
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_756/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.081:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.081,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (1.9,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_1.9_0.0_MultiDynamics_arc_18_0.081_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_757/meta.json b/RH5_dataset_threads_5000eps/frames/episode_757/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..691a73f97da0d1a34b7f53072bb26c4adb947989
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_757/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.0,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-0.7_0.0_MultiDynamics_arc_6_0.258_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_758/meta.json b/RH5_dataset_threads_5000eps/frames/episode_758/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa0228b1cfa716207cef68c94dad95a1127ddb54
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_758/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.076:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    1.9,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.076,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (1.9,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_1.9_2.0_0.0_MultiDynamics_arc_19_0.076_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_759/meta.json b/RH5_dataset_threads_5000eps/frames/episode_759/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55d3ba12a49a9fbff4dd38bdbe6777b4bd2f98d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_759/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.0,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-0.8_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_76/meta.json b/RH5_dataset_threads_5000eps/frames/episode_76/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7600d1dd40a750b470bf1c301eda437493bdf88
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_76/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.540:0.062,MultiDynamics_s:1:0.62:0.062,MultiDynamics_s:1:0.61:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.7_0.0_0.0_MultiDynamics_4_0.540_0.062_MultiDynamics_s_1_0.62_0.062_MultiDynamics_s_1_0.61_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_760/meta.json b/RH5_dataset_threads_5000eps/frames/episode_760/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8e6c19649c615a15a1e4631f137db89dbabe5eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_760/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.0,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-0.9_0.0_MultiDynamics_arc_8_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_761/meta.json b/RH5_dataset_threads_5000eps/frames/episode_761/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3722b7a3d89cac98bc985592482f65bf7f2807d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_761/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.0,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.0_0.0_MultiDynamics_arc_9_0.172_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_762/meta.json b/RH5_dataset_threads_5000eps/frames/episode_762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..687a33db8b82ff4ebc398b76175e878bb0e3a949
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_762/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.0,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.1_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_763/meta.json b/RH5_dataset_threads_5000eps/frames/episode_763/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d508ea94decb530c90dc3015d5c405615f7d041a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_763/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.0,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.2_0.0_MultiDynamics_arc_11_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_764/meta.json b/RH5_dataset_threads_5000eps/frames/episode_764/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e177fb0f570a385f80e6052d2ed6f825ef3e003f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_764/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.0,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.3_0.0_MultiDynamics_arc_12_0.129_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_765/meta.json b/RH5_dataset_threads_5000eps/frames/episode_765/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..645d1fddda978002c82028c7d339e0cd5801e7ea
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_765/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.0,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.4_0.0_MultiDynamics_arc_13_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_766/meta.json b/RH5_dataset_threads_5000eps/frames/episode_766/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f093b3305ce112ad31b0a032f4c13814e6996c84
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_766/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.0,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.5_0.0_MultiDynamics_arc_14_0.111_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_767/meta.json b/RH5_dataset_threads_5000eps/frames/episode_767/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b52a34b017a93e6082da59479c5135943d0625f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_767/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.0,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.6_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_768/meta.json b/RH5_dataset_threads_5000eps/frames/episode_768/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6c71e68a67fd89b397fbb982a4a68763325129
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_768/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.0,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.7_0.0_MultiDynamics_arc_16_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_769/meta.json b/RH5_dataset_threads_5000eps/frames/episode_769/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6deeda8acc3fb5a8badc161e444219c17c383c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_769/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.0,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.8_0.0_MultiDynamics_arc_17_0.091_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_77/meta.json b/RH5_dataset_threads_5000eps/frames/episode_77/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1efe98ffe3fa025c930e8af784d930d82c9b99c0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_77/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.560:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.8_0.0_0.0_MultiDynamics_4_0.560_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_770/meta.json b/RH5_dataset_threads_5000eps/frames/episode_770/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3d37a49a554da705e2c20a0233563ed0b14cdb7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_770/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.310:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.31,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.0,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_0.6_0.0_MultiDynamics_arc_5_0.310_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_771/meta.json b/RH5_dataset_threads_5000eps/frames/episode_771/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e24d1e0358bcc80818d96b8ff3377342442d8df
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_771/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.0,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-1.9_0.0_MultiDynamics_arc_18_0.086_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_772/meta.json b/RH5_dataset_threads_5000eps/frames/episode_772/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71a2a0ff67212da69c51f0b05699e33da106696
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_772/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.258:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.258,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.0,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_0.7_0.0_MultiDynamics_arc_6_0.258_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_773/meta.json b/RH5_dataset_threads_5000eps/frames/episode_773/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d8f7c3ee0f0e6ac354695769eb4f8feb58f505
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_773/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.0,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_-2.0_0.0_MultiDynamics_arc_19_0.082_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_774/meta.json b/RH5_dataset_threads_5000eps/frames/episode_774/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf159004ba18c3b17ae4b3c2d5b77a55480205c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_774/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.0,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_0.8_0.0_MultiDynamics_arc_8_0.194_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_775/meta.json b/RH5_dataset_threads_5000eps/frames/episode_775/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00edb0e1df8ee4011ab65a425ca0fc3d2c4812d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_775/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.0,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_0.9_0.0_MultiDynamics_arc_8_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_776/meta.json b/RH5_dataset_threads_5000eps/frames/episode_776/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89dab258208afe5d6511a0b51374c844b2586f10
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_776/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.172:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.172,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.0,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.0_0.0_MultiDynamics_arc_9_0.172_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_777/meta.json b/RH5_dataset_threads_5000eps/frames/episode_777/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0233436204a81e3755d6972ae601a16915e0a5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_777/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.0,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.1_0.0_MultiDynamics_arc_11_0.141_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_778/meta.json b/RH5_dataset_threads_5000eps/frames/episode_778/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd514eb3f9e6b1c083d878d6c0df49fbdab824b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_778/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.0,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.2_0.0_MultiDynamics_arc_11_0.141_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_779/meta.json b/RH5_dataset_threads_5000eps/frames/episode_779/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83a5bed0b91615ab3c393a78b9a404b9c483ab80
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_779/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.129:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.129,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.0,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.3_0.0_MultiDynamics_arc_12_0.129_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_78/meta.json b/RH5_dataset_threads_5000eps/frames/episode_78/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ce90dac788c207df9230e4271ae17b323f6a6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_78/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.585:0.062,MultiDynamics_s:3:0.65:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 2.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_2.9_0.0_0.0_MultiDynamics_4_0.585_0.062_MultiDynamics_s_3_0.65_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_780/meta.json b/RH5_dataset_threads_5000eps/frames/episode_780/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38038d9d0978fe73a8aa85ec68a7ecc9c455f2fa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_780/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.0,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.4_0.0_MultiDynamics_arc_13_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_781/meta.json b/RH5_dataset_threads_5000eps/frames/episode_781/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..753904ea73c3346aa5c1d38c1c8e418938efb057
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_781/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.111:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.111,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.0,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.5_0.0_MultiDynamics_arc_14_0.111_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_782/meta.json b/RH5_dataset_threads_5000eps/frames/episode_782/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42f7021b390abf86cb804a2d0b164586ac375b46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_782/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.0,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.6_0.0_MultiDynamics_arc_16_0.097_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_783/meta.json b/RH5_dataset_threads_5000eps/frames/episode_783/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0b909ec4eee447ac415d6c1dcf6acb0a26f1c78
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_783/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.0,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.7_0.0_MultiDynamics_arc_16_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_784/meta.json b/RH5_dataset_threads_5000eps/frames/episode_784/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab52e19e3113fbc3ebadc1e3b053cc16231c799
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_784/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.091:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.091,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.0,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.8_0.0_MultiDynamics_arc_17_0.091_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_785/meta.json b/RH5_dataset_threads_5000eps/frames/episode_785/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47419e3804d08dd6d980dc5c3a446b951392cf5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_785/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.1,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-0.6_0.0_MultiDynamics_arc_5_0.330_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_786/meta.json b/RH5_dataset_threads_5000eps/frames/episode_786/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7707bd0f11f25cd52cf6fafbaf0d23ff5f26c748
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_786/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.086:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.086,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.0,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_1.9_0.0_MultiDynamics_arc_18_0.086_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_787/meta.json b/RH5_dataset_threads_5000eps/frames/episode_787/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d0af891664f0be3d79bdaa0d17d56870da673bd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_787/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.1,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-0.7_0.0_MultiDynamics_arc_6_0.275_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_788/meta.json b/RH5_dataset_threads_5000eps/frames/episode_788/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0ce54715412b50158ec0a0e83517d08a75b0204
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_788/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.082:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.0,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.082,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.0,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.0_2.0_0.0_MultiDynamics_arc_19_0.082_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_789/meta.json b/RH5_dataset_threads_5000eps/frames/episode_789/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ec602d8974b18c748ff1aa8feb24288ec542580
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_789/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.1,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-0.8_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_79/meta.json b/RH5_dataset_threads_5000eps/frames/episode_79/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..394bf14f868525aadfdbe5303d2cc857734604ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_79/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:4:0.610:0.062,MultiDynamics_s:1:0.68:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.0_0.0_0.0_MultiDynamics_4_0.610_0.062_MultiDynamics_s_1_0.68_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_790/meta.json b/RH5_dataset_threads_5000eps/frames/episode_790/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf32344d210c33d9fa5aa381a084a2fc049d59c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_790/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.1,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-0.9_0.0_MultiDynamics_arc_8_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_791/meta.json b/RH5_dataset_threads_5000eps/frames/episode_791/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95469910194e5718b66b28236c264669e02181f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_791/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.1,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.0_0.0_MultiDynamics_arc_9_0.183_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_792/meta.json b/RH5_dataset_threads_5000eps/frames/episode_792/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b263c82001a90ed73444c18d51e17f7f6369b609
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_792/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.1,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.1_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_793/meta.json b/RH5_dataset_threads_5000eps/frames/episode_793/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f9f1b0dc6b77dae598928f8d589212fb36507c5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_793/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.1,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.2_0.0_MultiDynamics_arc_11_0.150_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_794/meta.json b/RH5_dataset_threads_5000eps/frames/episode_794/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5579edcbadbc6707c3ae58c4c09ca38014092737
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_794/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.1,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.3_0.0_MultiDynamics_arc_12_0.138_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_795/meta.json b/RH5_dataset_threads_5000eps/frames/episode_795/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..400ed2c37522d6473504e80927ee79ca69a070bb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_795/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.1,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.4_0.0_MultiDynamics_arc_13_0.127_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_796/meta.json b/RH5_dataset_threads_5000eps/frames/episode_796/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ae95b3331b7c4984ebccc84416b862924a51f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_796/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.1,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.5_0.0_MultiDynamics_arc_14_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_797/meta.json b/RH5_dataset_threads_5000eps/frames/episode_797/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b5800548b11aa599f934acfd564f038c0d365b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_797/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.1,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.6_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_798/meta.json b/RH5_dataset_threads_5000eps/frames/episode_798/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..209e3b2839f3783620b099c76830b1d88cd9a7a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_798/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.1,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.7_0.0_MultiDynamics_arc_16_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_799/meta.json b/RH5_dataset_threads_5000eps/frames/episode_799/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b97ae87b1c29832dac257f4328d1a0ef458c14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_799/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.1,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.8_0.0_MultiDynamics_arc_17_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_8/meta.json b/RH5_dataset_threads_5000eps/frames/episode_8/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa92944a51f8e0dbd0950b14212d14029fe74cee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_8/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.062,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.7_0.0_0.0_MultiDynamics_2_0.580_0.062_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_80/meta.json b/RH5_dataset_threads_5000eps/frames/episode_80/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45338b3e3537ef2fcf45584ffa69f563808bf4b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_80/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.508:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.1_0.0_0.0_MultiDynamics_5_0.508_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_800/meta.json b/RH5_dataset_threads_5000eps/frames/episode_800/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65e46f5a358d9881d913011f87da509555cee8a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_800/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.330:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.33,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.1,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_0.6_0.0_MultiDynamics_arc_5_0.330_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_801/meta.json b/RH5_dataset_threads_5000eps/frames/episode_801/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80908348b510c492807aece3327495fcb7598a9b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_801/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.1,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-1.9_0.0_MultiDynamics_arc_18_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_802/meta.json b/RH5_dataset_threads_5000eps/frames/episode_802/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c749fbcb8d2a3882a96cd13af708aea5c2000eb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_802/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.275:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.275,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.1,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_0.7_0.0_MultiDynamics_arc_6_0.275_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_803/meta.json b/RH5_dataset_threads_5000eps/frames/episode_803/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5233782f804afc109b5a3c79f8b4fae84c753eee
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_803/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.1,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_-2.0_0.0_MultiDynamics_arc_19_0.087_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_804/meta.json b/RH5_dataset_threads_5000eps/frames/episode_804/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a68c71ec3a329d00177423b0b6001b6dfbe5dfc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_804/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.1,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_0.8_0.0_MultiDynamics_arc_8_0.206_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_805/meta.json b/RH5_dataset_threads_5000eps/frames/episode_805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dcda972979ab7b18d40c49ddf1a3d158b802aab
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_805/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.1,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_0.9_0.0_MultiDynamics_arc_8_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_806/meta.json b/RH5_dataset_threads_5000eps/frames/episode_806/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e681f0b6a07e2cc929bb02fb67bb34220c886fb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_806/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.183:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.183,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.1,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.0_0.0_MultiDynamics_arc_9_0.183_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_807/meta.json b/RH5_dataset_threads_5000eps/frames/episode_807/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9d7717fe26c88c366270481d9562e3541f7fc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_807/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.1,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.1_0.0_MultiDynamics_arc_11_0.150_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_808/meta.json b/RH5_dataset_threads_5000eps/frames/episode_808/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f5bd214cc5c3d8c186f7b43992ff6cd9f5b4a8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_808/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.150:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.1,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.2_0.0_MultiDynamics_arc_11_0.150_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_809/meta.json b/RH5_dataset_threads_5000eps/frames/episode_809/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc3eab3c2277e69b145a19616d4d220212c2c86
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_809/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.138:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.138,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.1,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.3_0.0_MultiDynamics_arc_12_0.138_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_81/meta.json b/RH5_dataset_threads_5000eps/frames/episode_81/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebdc1b17ed674dc89fe69862b8322d9e396971bf
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_81/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.536:0.062,MultiDynamics_s:3:0.59:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.61:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.2_0.0_0.0_MultiDynamics_5_0.536_0.062_MultiDynamics_s_3_0.59_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.61_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_810/meta.json b/RH5_dataset_threads_5000eps/frames/episode_810/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15bc2fad3687d4111b7a6741e21407b88f8de8b3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_810/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.127:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.127,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.1,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.4_0.0_MultiDynamics_arc_13_0.127_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_811/meta.json b/RH5_dataset_threads_5000eps/frames/episode_811/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa7554d55123df4f9fe8a76b520e3d69319469bc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_811/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.1,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.5_0.0_MultiDynamics_arc_14_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_812/meta.json b/RH5_dataset_threads_5000eps/frames/episode_812/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..994e4e86d4d9e2008af2d6cf6209b97ee3f4bebd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_812/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.1,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.6_0.0_MultiDynamics_arc_16_0.103_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_813/meta.json b/RH5_dataset_threads_5000eps/frames/episode_813/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab24422d75c93defd7e9c74d9112729eddabd3dc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_813/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.1,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.7_0.0_MultiDynamics_arc_16_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_814/meta.json b/RH5_dataset_threads_5000eps/frames/episode_814/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1215f4b77ba61ea7dbd23140543761cf096162b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_814/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.1,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.8_0.0_MultiDynamics_arc_17_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_815/meta.json b/RH5_dataset_threads_5000eps/frames/episode_815/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2608ab45e6c3d4922bff5452f994f145d0ae45c7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_815/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.2,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-0.6_0.0_MultiDynamics_arc_5_0.350_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_816/meta.json b/RH5_dataset_threads_5000eps/frames/episode_816/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7221996675e52688a1a8614a359b873dd20b0b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_816/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.1,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_1.9_0.0_MultiDynamics_arc_18_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_817/meta.json b/RH5_dataset_threads_5000eps/frames/episode_817/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3f3a65f435058a10ecf64d7fc2a2bc5d2db86f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_817/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.2,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-0.7_0.0_MultiDynamics_arc_6_0.292_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_818/meta.json b/RH5_dataset_threads_5000eps/frames/episode_818/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e583c633b5965e0b6f10e42a937b200c834613
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_818/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.087:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.1,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.087,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.1,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.1_2.0_0.0_MultiDynamics_arc_19_0.087_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_819/meta.json b/RH5_dataset_threads_5000eps/frames/episode_819/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a277b9e7c3b5fdd6ac23ee6d983630d077a4096
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_819/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.2,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-0.8_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_82/meta.json b/RH5_dataset_threads_5000eps/frames/episode_82/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06399e277ce59f7340aa6b9e4cb61bdb7174b1e8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_82/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.552:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:2:0.60:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.3_0.0_0.0_MultiDynamics_5_0.552_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_2_0.60_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_820/meta.json b/RH5_dataset_threads_5000eps/frames/episode_820/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..154d3274ff51dfc194973944922382a83ccc2a61
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_820/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.2,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-0.9_0.0_MultiDynamics_arc_8_0.219_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_821/meta.json b/RH5_dataset_threads_5000eps/frames/episode_821/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96abae7cc08ec685c72ad9d209aaef1b2d648061
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_821/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.2,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.0_0.0_MultiDynamics_arc_9_0.194_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_822/meta.json b/RH5_dataset_threads_5000eps/frames/episode_822/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ec9751077aeaa09ce34f5b1475daa838982b0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_822/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.2,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.1_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_823/meta.json b/RH5_dataset_threads_5000eps/frames/episode_823/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a24cdf1fac1716b8f4463ab332008e9268770e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_823/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.2,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.2_0.0_MultiDynamics_arc_11_0.159_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_824/meta.json b/RH5_dataset_threads_5000eps/frames/episode_824/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f059738a8a668e574b582c0bcc0caa3ce10556f8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_824/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.2,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.3_0.0_MultiDynamics_arc_12_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_825/meta.json b/RH5_dataset_threads_5000eps/frames/episode_825/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f69a6d2266712a971d923f9f7f539e026e02461b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_825/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.2,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.4_0.0_MultiDynamics_arc_13_0.135_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_826/meta.json b/RH5_dataset_threads_5000eps/frames/episode_826/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..311d5f0414080009cd024cad77b79068cf7067b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_826/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.2,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.5_0.0_MultiDynamics_arc_14_0.125_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_827/meta.json b/RH5_dataset_threads_5000eps/frames/episode_827/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf970c5ad9093f9c76189825bed27d36948d78d2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_827/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.2,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.6_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_828/meta.json b/RH5_dataset_threads_5000eps/frames/episode_828/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a8df3dc326b9ce8c57eec5e57a8ed6c8da892a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_828/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.2,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.7_0.0_MultiDynamics_arc_16_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_829/meta.json b/RH5_dataset_threads_5000eps/frames/episode_829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b33f71def58d935699be607f177e420cf4c619
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_829/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.2,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.8_0.0_MultiDynamics_arc_17_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_83/meta.json b/RH5_dataset_threads_5000eps/frames/episode_83/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..962d9cfbe2d7499615ecbbe511327b341130611a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_83/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.568:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.295:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.4_0.0_0.0_MultiDynamics_5_0.568_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.295_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_830/meta.json b/RH5_dataset_threads_5000eps/frames/episode_830/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab5e864facf4155bfa101ba0995ba7a22f5e7c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_830/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.350:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.35,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.2,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_0.6_0.0_MultiDynamics_arc_5_0.350_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_831/meta.json b/RH5_dataset_threads_5000eps/frames/episode_831/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdad60ebadbf0fb9f1c39083e5cf63767da6f92a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_831/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.2,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-1.9_0.0_MultiDynamics_arc_18_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_832/meta.json b/RH5_dataset_threads_5000eps/frames/episode_832/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..758029034002c05c5c9d40fcf3fe09b9e67606d1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_832/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.292:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.292,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.2,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_0.7_0.0_MultiDynamics_arc_6_0.292_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_833/meta.json b/RH5_dataset_threads_5000eps/frames/episode_833/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce28b0bb7160e94043ac042c04ca5889e5b572c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_833/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.2,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_-2.0_0.0_MultiDynamics_arc_19_0.092_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_834/meta.json b/RH5_dataset_threads_5000eps/frames/episode_834/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41f453247dd018f89181315264c83db8e3f89dc7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_834/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.2,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_0.8_0.0_MultiDynamics_arc_8_0.219_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_835/meta.json b/RH5_dataset_threads_5000eps/frames/episode_835/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aabb41be3a738a3b0135bccbccaee2e554cd2a7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_835/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.219:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.219,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.2,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_0.9_0.0_MultiDynamics_arc_8_0.219_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_836/meta.json b/RH5_dataset_threads_5000eps/frames/episode_836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..827e56a8a3948f6125de9a65c5db630c88e8332e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_836/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.194:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.194,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.2,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.0_0.0_MultiDynamics_arc_9_0.194_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_837/meta.json b/RH5_dataset_threads_5000eps/frames/episode_837/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98d2eead8dc2a720b5302bb3701623a4d3c3ae1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_837/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.2,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.1_0.0_MultiDynamics_arc_11_0.159_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_838/meta.json b/RH5_dataset_threads_5000eps/frames/episode_838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33b1e119878dbade0d504709b62e2400544531f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_838/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.159:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.159,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.2,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.2_0.0_MultiDynamics_arc_11_0.159_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_839/meta.json b/RH5_dataset_threads_5000eps/frames/episode_839/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5758f405d63feec67619f5065afb2650d8ceca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_839/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.2,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.3_0.0_MultiDynamics_arc_12_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_84/meta.json b/RH5_dataset_threads_5000eps/frames/episode_84/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0682c016df1c077d91bfb8bb705aae4c50e7c96
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_84/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.588:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.5_0.0_0.0_MultiDynamics_5_0.588_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_840/meta.json b/RH5_dataset_threads_5000eps/frames/episode_840/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d9643b230df15ecc06cd2ecd7cedc5d34874ba
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_840/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.135:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.135,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.2,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.4_0.0_MultiDynamics_arc_13_0.135_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_841/meta.json b/RH5_dataset_threads_5000eps/frames/episode_841/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..560a688d84556af5f581e19922885666cba94730
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_841/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.125:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.2,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.5_0.0_MultiDynamics_arc_14_0.125_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_842/meta.json b/RH5_dataset_threads_5000eps/frames/episode_842/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6798470a10ad5e013c895eb2007212227ec49705
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_842/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.2,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.6_0.0_MultiDynamics_arc_16_0.109_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_843/meta.json b/RH5_dataset_threads_5000eps/frames/episode_843/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1b1597f1b1b38c0a0759261f19d68fd445a3b6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_843/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.2,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.7_0.0_MultiDynamics_arc_16_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_844/meta.json b/RH5_dataset_threads_5000eps/frames/episode_844/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05df16952c3811adef0c5c7a9930cae43621158c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_844/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.2,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.8_0.0_MultiDynamics_arc_17_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_845/meta.json b/RH5_dataset_threads_5000eps/frames/episode_845/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0d3c8814799c5f5c002eb0cbd52cc283ada8ff
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_845/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.3,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-0.6_0.0_MultiDynamics_arc_5_0.370_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_846/meta.json b/RH5_dataset_threads_5000eps/frames/episode_846/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05491f0947da4d08eb5793f0692c7574ff7dea62
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_846/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.2,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_1.9_0.0_MultiDynamics_arc_18_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_847/meta.json b/RH5_dataset_threads_5000eps/frames/episode_847/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3969a1cf49c9b976282ca9b4f425a16b81ac6930
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_847/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.3,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-0.7_0.0_MultiDynamics_arc_6_0.308_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_848/meta.json b/RH5_dataset_threads_5000eps/frames/episode_848/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3afa70e964d62272eab80ae6732d5f46197882
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_848/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.092:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.2,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.092,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.2,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.2_2.0_0.0_MultiDynamics_arc_19_0.092_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_849/meta.json b/RH5_dataset_threads_5000eps/frames/episode_849/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2b98b208554e7abe24c85723b4238dba03228d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_849/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.3,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-0.8_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_85/meta.json b/RH5_dataset_threads_5000eps/frames/episode_85/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab38736f2eec1365046eb293231c9c17f5c83624
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_85/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:5:0.614:0.062,MultiDynamics_s:3:0.645:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.6_0.0_0.0_MultiDynamics_5_0.614_0.062_MultiDynamics_s_3_0.645_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_850/meta.json b/RH5_dataset_threads_5000eps/frames/episode_850/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..637c879944a10573ff7e7c04830fcf7277a77f87
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_850/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.3,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-0.9_0.0_MultiDynamics_arc_8_0.231_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_851/meta.json b/RH5_dataset_threads_5000eps/frames/episode_851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e810c57fed35b0df814bd3147859c74b8efe3c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_851/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.3,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.0_0.0_MultiDynamics_arc_9_0.206_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_852/meta.json b/RH5_dataset_threads_5000eps/frames/episode_852/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4608e0e95e3d9108bd0c0d295045e594005a737
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_852/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.3,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.1_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_853/meta.json b/RH5_dataset_threads_5000eps/frames/episode_853/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad62bc0d35d255df890f84484bf601dceea014f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_853/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.3,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.2_0.0_MultiDynamics_arc_11_0.168_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_854/meta.json b/RH5_dataset_threads_5000eps/frames/episode_854/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda68bccebb830a07fe83a37c1ba6a5f18fecda4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_854/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.3,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.3_0.0_MultiDynamics_arc_12_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_855/meta.json b/RH5_dataset_threads_5000eps/frames/episode_855/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13cd26e2423eb5973b7a6084cc15ea9051b038b7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_855/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.3,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.4_0.0_MultiDynamics_arc_13_0.142_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_856/meta.json b/RH5_dataset_threads_5000eps/frames/episode_856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..855a1c7aa91ad51413beb1852b56ac4347de2c0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_856/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.3,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.5_0.0_MultiDynamics_arc_14_0.132_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_857/meta.json b/RH5_dataset_threads_5000eps/frames/episode_857/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ba557a85a4b0fc2bfe47dff7072fdf84196d29
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_857/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.3,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.6_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_858/meta.json b/RH5_dataset_threads_5000eps/frames/episode_858/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1615eab4efaa9791667f8df0fe314afe146b8ed8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_858/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.3,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.7_0.0_MultiDynamics_arc_16_0.116_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_859/meta.json b/RH5_dataset_threads_5000eps/frames/episode_859/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb41eda2af3be533d2467317b9d166fca5b3356
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_859/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.3,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.8_0.0_MultiDynamics_arc_17_0.109_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_86/meta.json b/RH5_dataset_threads_5000eps/frames/episode_86/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51957b0897ba240df9cde779420e19fbf612b0f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_86/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.530:0.062,MultiDynamics_s:1:0.53:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.615:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.7_0.0_0.0_MultiDynamics_6_0.530_0.062_MultiDynamics_s_1_0.53_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.615_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_860/meta.json b/RH5_dataset_threads_5000eps/frames/episode_860/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..313adf892d7a1372e0b99f751cbd28d5dc8ecd68
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_860/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.370:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.37,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.3,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_0.6_0.0_MultiDynamics_arc_5_0.370_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_861/meta.json b/RH5_dataset_threads_5000eps/frames/episode_861/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db18a56b54c900939e389b31325f738f9cca74d7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_861/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.3,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-1.9_0.0_MultiDynamics_arc_18_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_862/meta.json b/RH5_dataset_threads_5000eps/frames/episode_862/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47f990e35e824a84a6044f194668bbfc10e25501
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_862/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.308:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.308,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.3,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_0.7_0.0_MultiDynamics_arc_6_0.308_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_863/meta.json b/RH5_dataset_threads_5000eps/frames/episode_863/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d1a95e8504ffbebc880f0710c48cbfbe7e3113
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_863/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.3,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_-2.0_0.0_MultiDynamics_arc_19_0.097_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_864/meta.json b/RH5_dataset_threads_5000eps/frames/episode_864/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..439cc81d1a02c8307fd0a9f46fbac8bc1338f28c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_864/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.3,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_0.8_0.0_MultiDynamics_arc_8_0.231_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_865/meta.json b/RH5_dataset_threads_5000eps/frames/episode_865/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55f1abce805630f89c9118b729a033d7441e326
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_865/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.231:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.231,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.3,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_0.9_0.0_MultiDynamics_arc_8_0.231_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_866/meta.json b/RH5_dataset_threads_5000eps/frames/episode_866/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80bb8d43cc282130bfd5ae43e3f346b3531fb099
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_866/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.206:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.206,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.3,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.0_0.0_MultiDynamics_arc_9_0.206_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_867/meta.json b/RH5_dataset_threads_5000eps/frames/episode_867/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cedb8cdbed46b858482622912f5807f05f8ebf0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_867/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.3,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.1_0.0_MultiDynamics_arc_11_0.168_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_868/meta.json b/RH5_dataset_threads_5000eps/frames/episode_868/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d24e39c9578ea1e4e685e1bf70a00dd671b31848
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_868/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.168:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.168,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.3,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.2_0.0_MultiDynamics_arc_11_0.168_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_869/meta.json b/RH5_dataset_threads_5000eps/frames/episode_869/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b179a052bd9e6d36238073be95dc4937439ae7b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_869/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.3,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.3_0.0_MultiDynamics_arc_12_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_87/meta.json b/RH5_dataset_threads_5000eps/frames/episode_87/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f842fbdef7c1451ddf34e024b4aea367fcb5bef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_87/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.543:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.8_0.0_0.0_MultiDynamics_6_0.543_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_870/meta.json b/RH5_dataset_threads_5000eps/frames/episode_870/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb0f1a2bf68d54776f4fd70f7fa98c3d784f109
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_870/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.142:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.142,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.3,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.4_0.0_MultiDynamics_arc_13_0.142_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_871/meta.json b/RH5_dataset_threads_5000eps/frames/episode_871/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0724b36198d40f71af3963634b92875404777b5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_871/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.132:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.3,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.5_0.0_MultiDynamics_arc_14_0.132_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_872/meta.json b/RH5_dataset_threads_5000eps/frames/episode_872/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98b43fb18c3b2f22fef441851598bf1dd599871
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_872/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.3,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.6_0.0_MultiDynamics_arc_16_0.116_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_873/meta.json b/RH5_dataset_threads_5000eps/frames/episode_873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19db851efa1304b5492295a7903ff5e718593a60
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_873/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.116:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.116,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.3,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.7_0.0_MultiDynamics_arc_16_0.116_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_874/meta.json b/RH5_dataset_threads_5000eps/frames/episode_874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39604f5cd93586fa59d2e010ce8ebb1b7746aef0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_874/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.109:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.109,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.3,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.8_0.0_MultiDynamics_arc_17_0.109_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_875/meta.json b/RH5_dataset_threads_5000eps/frames/episode_875/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7445458b6dfabf1412e3829f75cddf7bca3a667f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_875/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.4,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-0.6_0.0_MultiDynamics_arc_5_0.390_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_876/meta.json b/RH5_dataset_threads_5000eps/frames/episode_876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e65f48d9f759f730a36933b9b781213aa4d35b4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_876/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.3,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_1.9_0.0_MultiDynamics_arc_18_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_877/meta.json b/RH5_dataset_threads_5000eps/frames/episode_877/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c67bedf6ca05c757d24a5c96476aa87393a334
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_877/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.4,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-0.7_0.0_MultiDynamics_arc_6_0.325_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_878/meta.json b/RH5_dataset_threads_5000eps/frames/episode_878/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0498455aeae727b21ad00037f767758902ff36
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_878/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.097:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.3,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.097,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.3,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.3_2.0_0.0_MultiDynamics_arc_19_0.097_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_879/meta.json b/RH5_dataset_threads_5000eps/frames/episode_879/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..779f46107aed228ab6cdd8872fe024a00022b02b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_879/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.4,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-0.8_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_88/meta.json b/RH5_dataset_threads_5000eps/frames/episode_88/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb42a831aff40d768655fab1f5b9a45ac297b838
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_88/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.560:0.062,MultiDynamics_s:1:0.6:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    3.9,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 3.9 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_3.9_0.0_0.0_MultiDynamics_6_0.560_0.062_MultiDynamics_s_1_0.6_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_880/meta.json b/RH5_dataset_threads_5000eps/frames/episode_880/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3499fd016457f4629e5fdf402eb943cef75df0fc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_880/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.4,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-0.9_0.0_MultiDynamics_arc_8_0.244_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_881/meta.json b/RH5_dataset_threads_5000eps/frames/episode_881/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13648e1822657102b18b6f8b67f7f900ec55af83
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_881/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.4,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.0_0.0_MultiDynamics_arc_9_0.217_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_882/meta.json b/RH5_dataset_threads_5000eps/frames/episode_882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0fb233480f96104d7544c2ab8bde668165e34a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_882/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.4,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.1_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_883/meta.json b/RH5_dataset_threads_5000eps/frames/episode_883/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bed2a881617629ef244fdf63df03f0223cd3fc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_883/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.4,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.2_0.0_MultiDynamics_arc_11_0.177_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_884/meta.json b/RH5_dataset_threads_5000eps/frames/episode_884/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f27df190d6eb2174e1ec70731acf652174be9196
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_884/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.4,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.3_0.0_MultiDynamics_arc_12_0.163_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_885/meta.json b/RH5_dataset_threads_5000eps/frames/episode_885/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a979f597e5797649649ac860d9be4d1e9595bb28
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_885/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.4,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.4_0.0_MultiDynamics_arc_13_0.150_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_886/meta.json b/RH5_dataset_threads_5000eps/frames/episode_886/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e88bcb4c9c984135265af581fd0cfd2ead43e4
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_886/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.4,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.5_0.0_MultiDynamics_arc_14_0.139_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_887/meta.json b/RH5_dataset_threads_5000eps/frames/episode_887/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed68a399ce63ed856b902288b6c7bebd0ce6d213
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_887/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.4,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.6_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_888/meta.json b/RH5_dataset_threads_5000eps/frames/episode_888/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..480977a5a3724868f2e20d77784b9ba503b59a57
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_888/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.4,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.7_0.0_MultiDynamics_arc_16_0.122_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_889/meta.json b/RH5_dataset_threads_5000eps/frames/episode_889/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe42f4b5e54689deba1818f79a07e3a44e27528b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_889/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.4,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.8_0.0_MultiDynamics_arc_17_0.115_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_89/meta.json b/RH5_dataset_threads_5000eps/frames/episode_89/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18136fd3020967c5b284bb0a104a19f0a64cafe5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_89/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:6:0.580:0.062,MultiDynamics_s:1:0.57:0.062,MultiDynamics_s:2:0.615:0.062,MultiDynamics_F:1:0.30:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    4.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "purple",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the purple stairs at distance <DIST> 4.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/purple_4.0_0.0_0.0_MultiDynamics_6_0.580_0.062_MultiDynamics_s_1_0.57_0.062_MultiDynamics_s_2_0.615_0.062_MultiDynamics_F_1_0.30_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_890/meta.json b/RH5_dataset_threads_5000eps/frames/episode_890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c800f7ef63eb3b265c848cd7f9aa86c469dfb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_890/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.390:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.39,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.4,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_0.6_0.0_MultiDynamics_arc_5_0.390_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_891/meta.json b/RH5_dataset_threads_5000eps/frames/episode_891/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ecfbc33c3320471c5bbf635244d8524f1236b0
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_891/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:-0.100,MultiDynamics_arc:1:-0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.4,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-1.9_0.0_MultiDynamics_arc_18_0.108_0.060_-0.100_MultiDynamics_arc_1_-0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_892/meta.json b/RH5_dataset_threads_5000eps/frames/episode_892/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd742ce7c102ab3a32acf0fe1b9003baeb88341e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_892/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.325:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.325,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.4,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_0.7_0.0_MultiDynamics_arc_6_0.325_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_893/meta.json b/RH5_dataset_threads_5000eps/frames/episode_893/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42162cae60de8720485bf0465d0488fd292fb46
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_893/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.4,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_-2.0_0.0_MultiDynamics_arc_19_0.103_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_894/meta.json b/RH5_dataset_threads_5000eps/frames/episode_894/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e0c9c0b5f04519ac99829f6b6ccac68e55a271
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_894/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.4,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_0.8_0.0_MultiDynamics_arc_8_0.244_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_895/meta.json b/RH5_dataset_threads_5000eps/frames/episode_895/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfa4c1471f5723d9c387072c82842b454731d589
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_895/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.244:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.244,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.4,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_0.9_0.0_MultiDynamics_arc_8_0.244_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_896/meta.json b/RH5_dataset_threads_5000eps/frames/episode_896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..740ce1204ff0f3faa302c5eab0ca6247acea4808
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_896/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.217:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.217,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.4,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.0_0.0_MultiDynamics_arc_9_0.217_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_897/meta.json b/RH5_dataset_threads_5000eps/frames/episode_897/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..302766ca3e59b5331d026980fc48e4e0d9824bbe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_897/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.4,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.1_0.0_MultiDynamics_arc_11_0.177_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_898/meta.json b/RH5_dataset_threads_5000eps/frames/episode_898/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f7ded4d6e8a259ae2a37efa27c94c4a879716b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_898/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.177:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.177,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.4,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.2_0.0_MultiDynamics_arc_11_0.177_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_899/meta.json b/RH5_dataset_threads_5000eps/frames/episode_899/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a3bef217bedb8f9ce8e615aa8a924de5b5f6fd
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_899/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.163:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.163,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.4,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.3_0.0_MultiDynamics_arc_12_0.163_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_9/meta.json b/RH5_dataset_threads_5000eps/frames/episode_9/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..728f84ca78c8b90d2a1f64a22110352cd60ae222
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_9/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the blue stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/blue_1.5_0.0_0.0_MultiDynamics_2_0.480_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_90/meta.json b/RH5_dataset_threads_5000eps/frames/episode_90/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd573d7e87b7b50e4837c12366d8e1c396edf68f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_90/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.402:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.6:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.0_0.0_0.0_MultiDynamics_1_0.402_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.6_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_900/meta.json b/RH5_dataset_threads_5000eps/frames/episode_900/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d879e3d0d3114a3095e5400161cd224fb296ed76
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_900/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.150:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.15,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.4,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.4_0.0_MultiDynamics_arc_13_0.150_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_901/meta.json b/RH5_dataset_threads_5000eps/frames/episode_901/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6b63b83e72d8f1dc9bcab32b1ec88c4fa73fc3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_901/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.139:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.139,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.4,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.5_0.0_MultiDynamics_arc_14_0.139_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_902/meta.json b/RH5_dataset_threads_5000eps/frames/episode_902/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceaad11c08ac2b1a79fd5f06d949c58678774067
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_902/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.4,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.6_0.0_MultiDynamics_arc_16_0.122_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_903/meta.json b/RH5_dataset_threads_5000eps/frames/episode_903/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab588eb20b0d9e8fff08895e8ae909318c099196
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_903/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.122:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.122,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.4,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.7_0.0_MultiDynamics_arc_16_0.122_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_904/meta.json b/RH5_dataset_threads_5000eps/frames/episode_904/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c7f05fab086f3621e2fbaec7c154516313eacef
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_904/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.115:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.115,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.4,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.8_0.0_MultiDynamics_arc_17_0.115_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_905/meta.json b/RH5_dataset_threads_5000eps/frames/episode_905/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4a93f639a1fb8e4b754c7d913d511c7d62fb6f
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_905/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.5,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-0.6_0.0_MultiDynamics_arc_5_0.410_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_906/meta.json b/RH5_dataset_threads_5000eps/frames/episode_906/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ade6e76bb2aa6755e276bdfed5ee971820cafaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_906/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.108:0.060:0.100,MultiDynamics_arc:1:-0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.4,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_1.9_0.0_MultiDynamics_arc_18_0.108_0.060_0.100_MultiDynamics_arc_1_-0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_907/meta.json b/RH5_dataset_threads_5000eps/frames/episode_907/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54b6bee0edc280c9e3c740bdd6d756410a3b1519
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_907/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.5,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-0.7_0.0_MultiDynamics_arc_6_0.342_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_908/meta.json b/RH5_dataset_threads_5000eps/frames/episode_908/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f2e6888de0e791dd6da8233dc895d31f9087f6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_908/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.103:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.4,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.103,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.4,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.4_2.0_0.0_MultiDynamics_arc_19_0.103_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_909/meta.json b/RH5_dataset_threads_5000eps/frames/episode_909/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff25c49a8129e7624b1c62c0e077aed0460e1245
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_909/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.5,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-0.8_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_91/meta.json b/RH5_dataset_threads_5000eps/frames/episode_91/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..048df6074cfa52d22da54d7cd42b422e3635182d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_91/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.570:0.062,MultiDynamics_s:3:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.1,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.1 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.1_0.0_0.0_MultiDynamics_1_0.570_0.062_MultiDynamics_s_3_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_910/meta.json b/RH5_dataset_threads_5000eps/frames/episode_910/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b2904606debcadedfcdd10d64fa61e07e46f2a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_910/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.5,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-0.9_0.0_MultiDynamics_arc_8_0.256_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_911/meta.json b/RH5_dataset_threads_5000eps/frames/episode_911/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aabc71b915a901a91699d0a76c38b47f6924377
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_911/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.5,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.0_0.0_MultiDynamics_arc_9_0.228_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_912/meta.json b/RH5_dataset_threads_5000eps/frames/episode_912/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b98b77a2985d3582869f57a327dfb910c53fe0c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_912/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.5,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.1_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_913/meta.json b/RH5_dataset_threads_5000eps/frames/episode_913/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d70e52e066cf8814430a3e2834c110a24249c430
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_913/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.5,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.2_0.0_MultiDynamics_arc_11_0.186_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_914/meta.json b/RH5_dataset_threads_5000eps/frames/episode_914/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b4d026ce3c1ddfa9b615e6f82d9b5438c9909b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_914/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.5,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.3_0.0_MultiDynamics_arc_12_0.171_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_915/meta.json b/RH5_dataset_threads_5000eps/frames/episode_915/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bdbab2e3816438d48feae9dc2a68baae28577da
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_915/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.5,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.4_0.0_MultiDynamics_arc_13_0.158_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_916/meta.json b/RH5_dataset_threads_5000eps/frames/episode_916/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe071c7a06a1a4320e6fac3e4de536756d41a7a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_916/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.5,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.5_0.0_MultiDynamics_arc_14_0.146_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_917/meta.json b/RH5_dataset_threads_5000eps/frames/episode_917/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8709422eb45d3530677715c0b7e93aae1f5a5410
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_917/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.5,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.6_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_918/meta.json b/RH5_dataset_threads_5000eps/frames/episode_918/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7458b01324b3620f2a135d15248dfd18cfb435
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_918/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.5,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.7_0.0_MultiDynamics_arc_16_0.128_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_919/meta.json b/RH5_dataset_threads_5000eps/frames/episode_919/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..615fd32e0a8e1560c718a1b70ed1c749d9e5aeb9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_919/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.5,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.8_0.0_MultiDynamics_arc_17_0.121_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_92/meta.json b/RH5_dataset_threads_5000eps/frames/episode_92/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3fa8b6a29a678c0f419d4a6c3b04b7c23143c9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_92/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:1:0.695:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:2:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.2,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.2 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.2_0.0_0.0_MultiDynamics_1_0.695_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_2_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_920/meta.json b/RH5_dataset_threads_5000eps/frames/episode_920/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbcb28da9185f05cbfc0add133e57d1858fc17db
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_920/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.410:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.41,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.5,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_0.6_0.0_MultiDynamics_arc_5_0.410_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_921/meta.json b/RH5_dataset_threads_5000eps/frames/episode_921/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4639e392a2719b12fd836677582cd8292710259
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_921/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.5,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-1.9_0.0_MultiDynamics_arc_18_0.114_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_922/meta.json b/RH5_dataset_threads_5000eps/frames/episode_922/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a9126729075beebdb9f2fdbac1175cae9ae414
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_922/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.342:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.342,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.5,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_0.7_0.0_MultiDynamics_arc_6_0.342_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_923/meta.json b/RH5_dataset_threads_5000eps/frames/episode_923/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..754c5fc70a983ac443dc79db9b14fcae9f53f804
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_923/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.5,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_-2.0_0.0_MultiDynamics_arc_19_0.108_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_924/meta.json b/RH5_dataset_threads_5000eps/frames/episode_924/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d0183d739766976c1e79d98c8321dd845f52f23
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_924/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.5,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_0.8_0.0_MultiDynamics_arc_8_0.256_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_925/meta.json b/RH5_dataset_threads_5000eps/frames/episode_925/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d981fbccfc96b08dd00e348f2fac4257386516c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_925/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.256:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.256,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.5,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_0.9_0.0_MultiDynamics_arc_8_0.256_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_926/meta.json b/RH5_dataset_threads_5000eps/frames/episode_926/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c3b3e8a0b88389cb5ece0e18f127f82a964603
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_926/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.228:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.228,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.5,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.0_0.0_MultiDynamics_arc_9_0.228_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_927/meta.json b/RH5_dataset_threads_5000eps/frames/episode_927/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0908e944771b8f8e4658079eb22dab94c4c5e1f5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_927/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.5,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.1_0.0_MultiDynamics_arc_11_0.186_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_928/meta.json b/RH5_dataset_threads_5000eps/frames/episode_928/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b5e48b5e53bf24a6d738bb0c3db838429ef2d3a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_928/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.186:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.186,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.5,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.2_0.0_MultiDynamics_arc_11_0.186_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_929/meta.json b/RH5_dataset_threads_5000eps/frames/episode_929/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da22c6b812efaa56fa63cc938c362404a149ecb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_929/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.171:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.171,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.5,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.3_0.0_MultiDynamics_arc_12_0.171_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_93/meta.json b/RH5_dataset_threads_5000eps/frames/episode_93/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c7e920b6771aae9edd8b3db1ce81f3106203826
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_93/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.350:0.062,MultiDynamics_s:3:0.6:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.3,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.3 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.3_0.0_0.0_MultiDynamics_2_0.350_0.062_MultiDynamics_s_3_0.6_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_930/meta.json b/RH5_dataset_threads_5000eps/frames/episode_930/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5073b2715c1fff9e19ba9b3f06d32e71e9d8f92c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_930/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.158:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.158,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.5,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.4_0.0_MultiDynamics_arc_13_0.158_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_931/meta.json b/RH5_dataset_threads_5000eps/frames/episode_931/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..366e27bfd223dbedf1ffa78049141593b3534252
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_931/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.146:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.146,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.5,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.5_0.0_MultiDynamics_arc_14_0.146_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_932/meta.json b/RH5_dataset_threads_5000eps/frames/episode_932/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e155d5cb06124437a9dbc4f31dccbf7c38a132de
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_932/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.5,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.6_0.0_MultiDynamics_arc_16_0.128_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_933/meta.json b/RH5_dataset_threads_5000eps/frames/episode_933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d17cf5ba04713513231ca175407d7dc93087bca
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_933/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.128:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.128,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.5,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.7_0.0_MultiDynamics_arc_16_0.128_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_934/meta.json b/RH5_dataset_threads_5000eps/frames/episode_934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba4199189145c2349d9911332c89b6cfc8bba1e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_934/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.121:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.121,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.5,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.8_0.0_MultiDynamics_arc_17_0.121_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_935/meta.json b/RH5_dataset_threads_5000eps/frames/episode_935/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58227472630aa7dbb7d08d8dd67f97120e34ef1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_935/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.6,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-0.6_0.0_MultiDynamics_arc_5_0.430_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_936/meta.json b/RH5_dataset_threads_5000eps/frames/episode_936/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb69ea385256bf814b8b16f9fa23b7d9417d793
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_936/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.114:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.114,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.5,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_1.9_0.0_MultiDynamics_arc_18_0.114_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_937/meta.json b/RH5_dataset_threads_5000eps/frames/episode_937/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c90d2086c4c811a6af5c186e98f18ebcfc91750
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_937/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.6,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-0.7_0.0_MultiDynamics_arc_6_0.358_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_938/meta.json b/RH5_dataset_threads_5000eps/frames/episode_938/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1152794617c25f853fcb67ba29f80956c26fe12d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_938/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.108:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.5,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.108,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.5,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.5_2.0_0.0_MultiDynamics_arc_19_0.108_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_939/meta.json b/RH5_dataset_threads_5000eps/frames/episode_939/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5950ccabd052e9dd183364b7ed8741362d0a24a6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_939/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.6,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-0.8_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_94/meta.json b/RH5_dataset_threads_5000eps/frames/episode_94/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6a36e5fe8d27449c21230f77098f35d3a981f1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_94/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.401:0.062,MultiDynamics_s:3:0.58:0.062,MultiDynamics_F:1:0.29:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.4,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.4 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.4_0.0_0.0_MultiDynamics_2_0.401_0.062_MultiDynamics_s_3_0.58_0.062_MultiDynamics_F_1_0.29_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_940/meta.json b/RH5_dataset_threads_5000eps/frames/episode_940/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67096207212fd447ad1bfecb0f43511543583fe2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_940/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.6,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-0.9_0.0_MultiDynamics_arc_8_0.269_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_941/meta.json b/RH5_dataset_threads_5000eps/frames/episode_941/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6064ccbdc540bd91bac6133fb7f5c4e54728022e
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_941/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.6,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.0_0.0_MultiDynamics_arc_9_0.239_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_942/meta.json b/RH5_dataset_threads_5000eps/frames/episode_942/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..693ed3d14705f07e70692f16678cd753dd7c9fdb
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_942/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.6,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.1_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_943/meta.json b/RH5_dataset_threads_5000eps/frames/episode_943/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32b07061542f7603de620663f1d0d9c82c86086d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_943/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.6,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.2_0.0_MultiDynamics_arc_11_0.195_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_944/meta.json b/RH5_dataset_threads_5000eps/frames/episode_944/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7024dbd5ebfeff7f20f36b2c47fce6f1402ca07
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_944/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.6,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.3_0.0_MultiDynamics_arc_12_0.179_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_945/meta.json b/RH5_dataset_threads_5000eps/frames/episode_945/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c2a835f3fcc9144359b6176d037d732b85fb00
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_945/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.6,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.4_0.0_MultiDynamics_arc_13_0.165_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_946/meta.json b/RH5_dataset_threads_5000eps/frames/episode_946/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2214e0e4055eb49cd13fbb59e5acf9cfa123fd85
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_946/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.6,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.5_0.0_MultiDynamics_arc_14_0.154_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_947/meta.json b/RH5_dataset_threads_5000eps/frames/episode_947/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f0a55a63291db52751f2eb7886f880dc503556
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_947/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.6,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.6_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_948/meta.json b/RH5_dataset_threads_5000eps/frames/episode_948/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a72e8a7b8bdb4dbeb718b10f1fabce0fa387f03
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_948/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.6,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.7_0.0_MultiDynamics_arc_16_0.134_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_949/meta.json b/RH5_dataset_threads_5000eps/frames/episode_949/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2e4c713ce89a5b3d9b128e667f531f93947a2a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_949/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.6,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.8_0.0_MultiDynamics_arc_17_0.126_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_95/meta.json b/RH5_dataset_threads_5000eps/frames/episode_95/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63aca4d4d8554bdad79f169ac256b368ef7cb512
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_95/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.480:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.60:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.5,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.5 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.5_0.0_0.0_MultiDynamics_2_0.480_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.60_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_950/meta.json b/RH5_dataset_threads_5000eps/frames/episode_950/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a70af3d30ba0f93e80064bf3c8534042927870
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_950/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.430:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.43,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.6,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_0.6_0.0_MultiDynamics_arc_5_0.430_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_951/meta.json b/RH5_dataset_threads_5000eps/frames/episode_951/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1ca8327edc28346a04a34adcc56da4024666b1
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_951/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.6,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-1.9_0.0_MultiDynamics_arc_18_0.119_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_952/meta.json b/RH5_dataset_threads_5000eps/frames/episode_952/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea735d459b922078a31d17515483fc834469ecc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_952/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.358:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.358,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.6,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_0.7_0.0_MultiDynamics_arc_6_0.358_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_953/meta.json b/RH5_dataset_threads_5000eps/frames/episode_953/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b2aa0fe941cb91cbad0d78de21fad482376cbb2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_953/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.6,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_-2.0_0.0_MultiDynamics_arc_19_0.113_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_954/meta.json b/RH5_dataset_threads_5000eps/frames/episode_954/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c53798ab9ffe684dcde2e85e48adb051d3c4e26
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_954/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.6,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_0.8_0.0_MultiDynamics_arc_8_0.269_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_955/meta.json b/RH5_dataset_threads_5000eps/frames/episode_955/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ab11a98dc3c8829f3e7c8557da76e3c1d7d600
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_955/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.269:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.269,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.6,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_0.9_0.0_MultiDynamics_arc_8_0.269_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_956/meta.json b/RH5_dataset_threads_5000eps/frames/episode_956/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2825c2aaf83f31d379d4d12283dea396a0345351
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_956/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.239:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.239,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.6,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.0_0.0_MultiDynamics_arc_9_0.239_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_957/meta.json b/RH5_dataset_threads_5000eps/frames/episode_957/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f9e1c1b552a359924518a5b4e0a1110710bde6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_957/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.6,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.1_0.0_MultiDynamics_arc_11_0.195_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_958/meta.json b/RH5_dataset_threads_5000eps/frames/episode_958/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1f93a86a14acd9b8ec6455f4ebe00e649f5c63
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_958/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.195:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.195,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.6,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.2_0.0_MultiDynamics_arc_11_0.195_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_959/meta.json b/RH5_dataset_threads_5000eps/frames/episode_959/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbdfc3f9ea805e3129599bb3c669162cb103d6cc
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_959/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.179:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.179,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.6,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.3_0.0_MultiDynamics_arc_12_0.179_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_96/meta.json b/RH5_dataset_threads_5000eps/frames/episode_96/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..331bdab178a4d558c26019c70fd6380b5095abb8
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_96/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.530:0.062,MultiDynamics_s:3:0.62:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.6,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.6 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.6_0.0_0.0_MultiDynamics_2_0.530_0.062_MultiDynamics_s_3_0.62_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_960/meta.json b/RH5_dataset_threads_5000eps/frames/episode_960/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3010d593b64dd30c35353fffaee5b2cda5ff4c7d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_960/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.165:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.165,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.6,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.4_0.0_MultiDynamics_arc_13_0.165_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_961/meta.json b/RH5_dataset_threads_5000eps/frames/episode_961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a2f68d355c8c3925427a9d5987af5f03c3b958
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_961/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.154:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.154,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.6,1.5) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.5_0.0_MultiDynamics_arc_14_0.154_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_962/meta.json b/RH5_dataset_threads_5000eps/frames/episode_962/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e78c05e9f72c98636f1a1c2827a4c4a089b5d5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_962/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.6,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.6_0.0_MultiDynamics_arc_16_0.134_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_963/meta.json b/RH5_dataset_threads_5000eps/frames/episode_963/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aed8509ab264777bb07ba055ede63802add8b89
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_963/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.134:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.134,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.6,1.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.7_0.0_MultiDynamics_arc_16_0.134_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_964/meta.json b/RH5_dataset_threads_5000eps/frames/episode_964/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90557097f36a7927224b19a39094b0099ce9ed2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_964/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.126:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.126,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.6,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.8_0.0_MultiDynamics_arc_17_0.126_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_965/meta.json b/RH5_dataset_threads_5000eps/frames/episode_965/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a86fdea6fc99906de0bfdb6d26598da866cf5aaa
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_965/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.7,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-0.6_0.0_MultiDynamics_arc_5_0.450_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_966/meta.json b/RH5_dataset_threads_5000eps/frames/episode_966/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57db90e315908d15e4326299de720a08316ad8b
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_966/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.119:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.119,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.6,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_1.9_0.0_MultiDynamics_arc_18_0.119_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_967/meta.json b/RH5_dataset_threads_5000eps/frames/episode_967/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35399953da8572cfb038b2aa345b8be0f20b20a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_967/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.7,0.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-0.7_0.0_MultiDynamics_arc_6_0.375_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_968/meta.json b/RH5_dataset_threads_5000eps/frames/episode_968/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9a9a42fac03c4fbd03954c24cf9bc94caa5c92
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_968/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.113:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.6,
+    2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.113,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.6,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.6_2.0_0.0_MultiDynamics_arc_19_0.113_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_969/meta.json b/RH5_dataset_threads_5000eps/frames/episode_969/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b6055987399d233b0685e383839767d498455c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_969/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.7,0.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-0.8_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_97/meta.json b/RH5_dataset_threads_5000eps/frames/episode_97/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..875152f2a119f99851cf4af8aa303f4f1d65a3f7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_97/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.580:0.062,MultiDynamics_s:1:0.66:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.7,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.7 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.7_0.0_0.0_MultiDynamics_2_0.580_0.062_MultiDynamics_s_1_0.66_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_970/meta.json b/RH5_dataset_threads_5000eps/frames/episode_970/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7afdaa49953b3436522a0b8bc5bc170e7bedb29d
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_970/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.7,0.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-0.9_0.0_MultiDynamics_arc_8_0.281_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_971/meta.json b/RH5_dataset_threads_5000eps/frames/episode_971/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2408a88e37b4045cf393a7558a88d58411d941e7
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_971/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.7,1.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.0_0.0_MultiDynamics_arc_9_0.250_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_972/meta.json b/RH5_dataset_threads_5000eps/frames/episode_972/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce2e48e18d6194f4ffc76d6ce0434952dca0852
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_972/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.7,1.1) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.1_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_973/meta.json b/RH5_dataset_threads_5000eps/frames/episode_973/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d37a5038e6baf86e1f121e0eaa437d4110ee9116
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_973/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.7,1.2) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.2_0.0_MultiDynamics_arc_11_0.205_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_974/meta.json b/RH5_dataset_threads_5000eps/frames/episode_974/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6767afdc72c29a226da996737430bb6e53b93621
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_974/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.7,1.3) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.3_0.0_MultiDynamics_arc_12_0.188_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_975/meta.json b/RH5_dataset_threads_5000eps/frames/episode_975/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71e960de3e2c188b499476fdfd27131ab4efff5
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_975/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.7,1.4) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.4_0.0_MultiDynamics_arc_13_0.173_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_976/meta.json b/RH5_dataset_threads_5000eps/frames/episode_976/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2907be9f8f753d1de2bec11517690ba3f20d136
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_976/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:14:0.161:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.5,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.161,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 14,
+  "description": "Walk to the blue box at <DIST> (2.7,1.5) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.5_0.0_MultiDynamics_arc_14_0.161_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_977/meta.json b/RH5_dataset_threads_5000eps/frames/episode_977/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3be6a8e9dfad700fdd690777b726050315e4e6
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_977/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.7,1.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.6_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_978/meta.json b/RH5_dataset_threads_5000eps/frames/episode_978/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4915595274ed822ec471ecb76837fb0ef844dec2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_978/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.141,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 16,
+  "description": "Walk to the blue box at <DIST> (2.7,1.7) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.7_0.0_MultiDynamics_arc_16_0.141_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_979/meta.json b/RH5_dataset_threads_5000eps/frames/episode_979/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff383a173245d0acd921759d608ddf7f2f9c821
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_979/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.132,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 17,
+  "description": "Walk to the blue box at <DIST> (2.7,1.8) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.8_0.0_MultiDynamics_arc_17_0.132_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_98/meta.json b/RH5_dataset_threads_5000eps/frames/episode_98/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..894b30aaae956e42ae3f0d9aaef100bf2152e408
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_98/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:2:0.630:0.062,MultiDynamics_s:1:0.69:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.285:0.05,MultiDynamics_strair_down:3:0.63:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    1.8,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 1.8 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_1.8_0.0_0.0_MultiDynamics_2_0.630_0.062_MultiDynamics_s_1_0.69_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.285_0.05_MultiDynamics_strair_down_3_0.63_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_980/meta.json b/RH5_dataset_threads_5000eps/frames/episode_980/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fd8dbec778f5fb36b84e84c8f09bbbb6b8db94
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_980/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.450:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.6,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.45,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 5,
+  "description": "Walk to the blue box at <DIST> (2.7,0.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_0.6_0.0_MultiDynamics_arc_5_0.450_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_981/meta.json b/RH5_dataset_threads_5000eps/frames/episode_981/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f521df3ef4efa3c573337de335793eef97f09795
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_981/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -1.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.125,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 18,
+  "description": "Walk to the blue box at <DIST> (2.7,1.9) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-1.9_0.0_MultiDynamics_arc_18_0.125_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_982/meta.json b/RH5_dataset_threads_5000eps/frames/episode_982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c526a658a1ef40a26660dda7c7661e97af8b7ffe
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_982/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:6:0.375:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.7,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.375,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 6,
+  "description": "Walk to the blue box at <DIST> (2.7,0.7) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_0.7_0.0_MultiDynamics_arc_6_0.375_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_983/meta.json b/RH5_dataset_threads_5000eps/frames/episode_983/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c0f9cf0cd8684c5edbc9f1f527ec355a4febde9
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_983/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    -2.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "left",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.118,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": -0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.7,2.0) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_-2.0_0.0_MultiDynamics_arc_19_0.118_0.060_-0.100_MultiDynamics_arc_1_0.000_0.060_-0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_984/meta.json b/RH5_dataset_threads_5000eps/frames/episode_984/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b58fe9fd0a354e0ba48a302d8b943765c000d3b2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_984/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.8,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.7,0.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_0.8_0.0_MultiDynamics_arc_8_0.281_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_985/meta.json b/RH5_dataset_threads_5000eps/frames/episode_985/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c7406f39b98658d8cfa3531a702668f6421af2
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_985/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:8:0.281:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    0.9,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.281,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 8,
+  "description": "Walk to the blue box at <DIST> (2.7,0.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_0.9_0.0_MultiDynamics_arc_8_0.281_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_986/meta.json b/RH5_dataset_threads_5000eps/frames/episode_986/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72f773694a5fc74e9e11568ef46154f318fe14d3
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_986/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:9:0.250:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.0,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.25,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 9,
+  "description": "Walk to the blue box at <DIST> (2.7,1.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.0_0.0_MultiDynamics_arc_9_0.250_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_987/meta.json b/RH5_dataset_threads_5000eps/frames/episode_987/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..084d002d2d991dbc68b8257c4b75194d2689169c
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_987/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.1,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.7,1.1) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.1_0.0_MultiDynamics_arc_11_0.205_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_988/meta.json b/RH5_dataset_threads_5000eps/frames/episode_988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3837eb4769a6d0f554a8c467797cbc06fb8b2b14
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_988/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:11:0.205:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.2,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.205,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 11,
+  "description": "Walk to the blue box at <DIST> (2.7,1.2) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.2_0.0_MultiDynamics_arc_11_0.205_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_989/meta.json b/RH5_dataset_threads_5000eps/frames/episode_989/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..577fda2d41b2f3c91e0b6be6d6ecd9fbd4469f69
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_989/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:12:0.188:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.3,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.188,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 12,
+  "description": "Walk to the blue box at <DIST> (2.7,1.3) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.3_0.0_MultiDynamics_arc_12_0.188_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_99/meta.json b/RH5_dataset_threads_5000eps/frames/episode_99/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6fa7b7ba99e8a235ebeea0a68c79512bb3f916
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_99/meta.json
@@ -0,0 +1,20 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics:3:0.477:0.062,MultiDynamics_s:1:0.58:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_s:1:0.63:0.062,MultiDynamics_F:1:0.28:0.05,MultiDynamics_strair_down:3:0.62:0.062,MultiDynamics_F:1:0.3:0.05",
+  "object": "doubleStair",
+  "object_position": [
+    2.0,
+    0.0,
+    0.0
+  ],
+  "object_color": "red",
+  "object_side": "right",
+  "is_side_object": false,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "description": "Walk to the red stairs at distance <DIST> 2.0 </DIST>, climb 3 steps, walk 1 gait cycle, descend 3 steps, walk 1 gait cycle, and stop",
+  "task_title": "Double stair climb",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/doubleStair/red_2.0_0.0_0.0_MultiDynamics_3_0.477_0.062_MultiDynamics_s_1_0.58_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_s_1_0.63_0.062_MultiDynamics_F_1_0.28_0.05_MultiDynamics_strair_down_3_0.62_0.062_MultiDynamics_F_1_0.3_0.05"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_990/meta.json b/RH5_dataset_threads_5000eps/frames/episode_990/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6dfe443b95858e95b97e54d9277bce19a0e658
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_990/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:13:0.173:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.4,
+    0.0
+  ],
+  "object_color": "blue",
+  "object_side": "right",
+  "is_side_object": true,
+  "step_length": 0.63,
+  "step_height": 0.062,
+  "used_is_arc": true,
+  "used_step_length": null,
+  "used_step_height": null,
+  "used_arc_step_length": 0.173,
+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 13,
+  "description": "Walk to the blue box at <DIST> (2.7,1.4) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
+  "arc_step_length": 0.55,
+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.4_0.0_MultiDynamics_arc_13_0.173_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
+}
\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_991/meta.json b/RH5_dataset_threads_5000eps/frames/episode_991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0653fbec2e736251c76cb1a107d716c9c441d75a
--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_991/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
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+    2.7,
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+  "description": "Walk to the blue box at <DIST> (2.7,1.5) </DIST> on the right and stop",
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\ No newline at end of file
diff --git a/RH5_dataset_threads_5000eps/frames/episode_992/meta.json b/RH5_dataset_threads_5000eps/frames/episode_992/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4828f335e0aa220aa84a5b443b4c87bcd457dec7
--- /dev/null
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@@ -0,0 +1,31 @@
+{
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+  "task": "Mixed",
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+  "object": "box",
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+    2.7,
+    1.6,
+    0.0
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+  "description": "Walk to the blue box at <DIST> (2.7,1.6) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
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+  "arc_step_height": 0.06,
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+  "trajectory_mode": "arc_side",
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\ No newline at end of file
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new file mode 100644
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+{
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+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:16:0.141:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
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+    2.7,
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+  "description": "Walk to the blue box at <DIST> (2.7,1.7) </DIST> on the right and stop",
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\ No newline at end of file
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new file mode 100644
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+{
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+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:17:0.132:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.8,
+    0.0
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+  "description": "Walk to the blue box at <DIST> (2.7,1.8) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
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+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
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new file mode 100644
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--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_995/meta.json
@@ -0,0 +1,31 @@
+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:5:0.470:0.060:-0.100,MultiDynamics_arc:1:0.000:0.060:-0.100",
+  "object": "box",
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+    2.8,
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+    0.0
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+  "description": "Walk to the blue box at <DIST> (2.8,0.6) </DIST> on the left and stop",
+  "task_title": "Walk to box on the left",
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+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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+{
+  "robot": "RH5V3",
+  "task": "Mixed",
+  "config_task": "default",
+  "motion_sequence": "MultiDynamics_arc:18:0.125:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    1.9,
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+  "description": "Walk to the blue box at <DIST> (2.7,1.9) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
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+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
+  "trajectory_mode": "arc_side",
+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_1.9_0.0_MultiDynamics_arc_18_0.125_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_997/meta.json
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+{
+  "robot": "RH5V3",
+  "task": "Mixed",
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+  "description": "Walk to the blue box at <DIST> (2.8,0.7) </DIST> on the left and stop",
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/RH5_dataset_threads_5000eps/frames/episode_998/meta.json
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+{
+  "robot": "RH5V3",
+  "task": "Mixed",
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+  "motion_sequence": "MultiDynamics_arc:19:0.118:0.060:0.100,MultiDynamics_arc:1:0.000:0.060:0.100",
+  "object": "box",
+  "object_position": [
+    2.7,
+    2.0,
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+  "used_arc_step_height": 0.06,
+  "used_arc_lateral_offset": 0.1,
+  "used_step_count": 19,
+  "description": "Walk to the blue box at <DIST> (2.7,2.0) </DIST> on the right and stop",
+  "task_title": "Walk to box on the right",
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+  "arc_step_height": 0.06,
+  "arc_lateral_offset": 0.08,
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+  "original_data_path": "../OcDataRecorder/oc_database/RH5V3/box/blue_2.7_2.0_0.0_MultiDynamics_arc_19_0.118_0.060_0.100_MultiDynamics_arc_1_0.000_0.060_0.100"
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diff --git a/RH5_dataset_threads_5000eps/meta/stats.json b/RH5_dataset_threads_5000eps/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65fce5effbbf53e54e87e66e1f24d4dd91bb1df
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+}
\ No newline at end of file